Mechanical models for insect locomotion: stability and parameter studies

We extend the analysis of simple models for the dynamics of insect locomotion in the horizontal plane, developed in [Biol. Cybern. 83 (6) (2000) 501] and applied to cockroach running in [Biol. Cybern. 83 (6) (2000) 517]. The models consist of a rigid body with a pair of effective legs (each representing the insect’s support tripod) placed intermittently in ground contact. The forces generated may be prescribed as functions of time, or developed by compression of a passive leg spring. We find periodic gaits in both cases, and show that prescribed (sinusoidal) forces always produce unstable gaits, unless they are allowed to rotate with the body during stride, in which case a (small) range of physically unrealistic stable gaits does exist. Stability is much more robust in the passive spring case, in which angular momentum transfer at touchdown/liftoff can result in convergence to asymptotically straight motions with bounded yaw, fore-aft and lateral velocity oscillations. Using a non-dimensional formulation of the equations of motion, we also develop exact and approximate scaling relations that permit derivation of gait characteristics for a range of leg stiffnesses, lengths, touchdown angles, body masses and inertias, from a single gait family computed at ‘standard’ parameter values.