A Self-Exciting Controller for High-Speed Vertical Running

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
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Electrical and Computer Engineering
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Systems Engineering
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Lynch, Goran A.
Clark, Jonathan E.
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Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this “self-exciting” controller does indeed generate an “almost” globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second. For more information: Kod*Lab

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2009-10-01
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Departmental Papers (ESE)
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2023-05-17T08:09:39.000
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BibTeX entry @inproceedings{lynch-iros-2009, author = {Goran A. Lynch and Jonathan E. Clark and Daniel Koditschek}, title = {A Self-Exciting Controller for High-Speed Vertical Running}, booktitle = {International Conference on Intelligent Robots and Systems}, year = {2009}, address = {St. Louis, Missouri, USA}, month = {October}, }
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