Biological Cybernetics

, Volume 83, Issue 6, pp 517–527

Mechanical models for insect locomotion: dynamics and stability in the horizontal plane – II. Application

  • John Schmitt
  • Philip Holmes

DOI: 10.1007/s004220000180

Cite this article as:
Schmitt, J. & Holmes, P. Biol Cybern (2000) 83: 517. doi:10.1007/s004220000180


We study the dynamics and stability of legged locomotion in the horizontal plane. We discuss the relevance of idealized mechanical models, developed in a companion paper, to recent experiments and simulations on insect running and turning. Applying our results to rapidly running cockroaches, we show that the models' gait and force characteristics match observations reasonably well.

Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • John Schmitt
    • 1
  • Philip Holmes
    • 1
  1. 1. Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USAUS
  2. 2. Program in Applied and Computational Mathematics, Princeton University, Princeton, NJ 08544, USAUS

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