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On the periodic motions of simple hopping robots

M’Closkey, R. T. and Burdick, J. W. and Vakakis, A. F. (1990) On the periodic motions of simple hopping robots. In: 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings. IEEE , Piscataway, NJ, pp. 771-777. ISBN 0-87942-597-0. https://resolver.caltech.edu/CaltechAUTHORS:20190611-105732075

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Abstract

Discrete dynamical systems theory is applied to the analysis of simplified hopping robot models. A one-dimensional vertical hopping model that captures both the vertical hopping dynamics and nonlinear control algorithm is reviewed. A more complicated two-dimensional model that includes both forward and vertical hopping dynamics and a foot placement algorithm is presented. These systems are analyzed using a Poincare return map and hopping behavior is investigated by constructing the return map bifurcation diagrams with respect to system parameters. The diagrams show period doubling leading to chaotic behavior. Using the vertical model results as a guide, dynamic behaviour of the planar hopping system is interpreted.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICSMC.1990.142225DOIArticle
Additional Information:© 1990 IEEE.
Record Number:CaltechAUTHORS:20190611-105732075
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190611-105732075
Official Citation:R. T. M'Closkey, J. W. Burdick and A. F. Vakakis, "On the periodic motions of simple hopping robots," 1990 IEEE International Conference on Systems, Man, and Cybernetics Conference Proceedings, Los Angeles, CA, USA, 1990, pp. 771-777. doi: 10.1109/ICSMC.1990.142225
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96277
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:11 Jun 2019 20:23
Last Modified:03 Oct 2019 21:20

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