Monopedal Gaits (Periodic Trajectories of a Passive One-Legged Hopper)

The dataset comprises time-series data capturing distinct periodic motions (gaits) of an energetically conservative one-legged hopper. Due to energy conservation, all gaits form a continuous one-dimensional family and undergo bifurcations as the internal energy varies, leading to different motion patterns such as in-place hopping, forward hopping, and backward hopping.

The dataset is intended to advance surrogate modeling techniques for bifurcation analysis in hybrid dynamical systems, a complex class of models that represent non-smooth dynamic behaviors.

The corresponding paper, discussing the system and how the data is generated, can be found in:
Connecting Gaits in Energetically Conservative Legged Systems.