Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published November 1990 | Published
Book Section - Chapter Open

On the periodic motions of simple hopping robots


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.

Additional Information

© 1990 IEEE.

Attached Files

Published - 00142225.pdf


Files (732.0 kB)
Name Size Download all
732.0 kB Preview Download

Additional details

August 19, 2023
October 20, 2023