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 | ||||||
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| 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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