The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots

In this paper, we explore the impulsive dynamics common to single-joint, two-link models of walking and brachiating gaits with respect to slope and switching time. In particular, we investigate how the stability of a gait and bifurcations encountered within a family of gaits change under time-based and state-based switching of the impulsive dynamics.