The Effect of Gait Stability Based on Two Types of Impact Strategies for Two-Link Walking and Brachiating Robots
The study compares two impact strategies—State-Based Switching (SBS) and Time-Based Switching (TBS)—on the stability of gait families in two-link walking and brachiating robots. SBS causes more bifurcations (FD, PD, NS), while TBS results in fewer (NS, FD). This reveals fundamental differences in how impact timing affects gait stability.