By combining biological studies and modeling work, the dynamics of running on horizontal terrain and climbing pure vertical surfaces have been distilled down to simple reduced order models. These models have inspired distinct control and design considerations for robots operating in each terrain. However, while the extremes are understood, the intermediate regions of moderate slopes have yet to be fully explored. In this paper, we examine how cockroaches vary their behavior as slope is changed from horizontal to vertical, with special care to examine individual leg forces when possible. The results are then compared with a lateral leg spring based (LLS, horizontal running) and Full–Goldman based (FG, vertical running) models. Overall, from the experimental data, there appears to be a continuous shift in the dynamics as slope varies, which is confirmed by similar behaviors exhibited by the LLS and FG models. Finally, by examining the stability and efficiency of the models, it is ...

中文翻译：

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坡度对跑步和攀爬动力学的影响。

通过结合生物学研究和建模工作，在水平地形上跑步和攀爬纯垂直表面的动力学已经被提炼成简单的降阶模型。这些模型激发了在各种地形中运行的机器人的独特控制和设计考虑。然而，虽然了解了极端情况，但尚未充分探索中等坡度的中间区域。在本文中，我们研究了当坡度从水平变为垂直时蟑螂如何改变它们的行为，并在可能的情况下特别注意检查单个腿的力量。然后将结果与基于侧腿弹簧（LLS，水平运行）和基于 Full-Goldman（FG，垂直运行）的模型进行比较。总的来说，从实验数据来看，随着斜率的变化，动力学似乎在不断变化，LLS 和 FG 模型表现出的类似行为证实了这一点。最后，通过检查模型的稳定性和效率，它是...