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Chaotic motions in the dynamics of a hopping robot

Vakakis, A. F. and Burdick, J. W. (1990) Chaotic motions in the dynamics of a hopping robot. In: Proceedings, 1990 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 1464-1469. ISBN 0-8186-9061-5. https://resolver.caltech.edu/CaltechAUTHORS:20190611-155909131

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Abstract

Discrete dynamical systems theory is applied to the dynamic stability analysis of a simplified hopping robot. A Poincare return map is developed to capture the system dynamics behavior, and two basic nondimensional parameters which influence the systems dynamics are identified. The hopping behavior of the system is investigated by constructing the bifurcation diagrams of the Poincare return map with respect to these parameters. The bifurcation diagrams show a period-doubling cascade leading to a regime of chaotic behavior, where a strange attractor is developed. One feature of the dynamics is that the strange attractor can be controlled and eliminated by tuning an appropriate parameter corresponding to the duration of applied hopping thrust. Physically, the collapse of the strange attractor leads to globally stable uniform hopping motion.


Item Type:Book Section
Related URLs:
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https://doi.org/10.1109/ROBOT.1990.126212DOIArticle
Additional Information:© 1990 IEEE.
Record Number:CaltechAUTHORS:20190611-155909131
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190611-155909131
Official Citation:A. F. Vakakis and J. W. Burdick, "Chaotic motions in the dynamics of a hopping robot," Proceedings., IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA, 1990, pp. 1464-1469 vol.3. doi: 10.1109/ROBOT.1990.126212
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96302
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:11 Jun 2019 23:06
Last Modified:03 Oct 2019 21:21

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