Analysis of a Simplified Hopping Robot

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Buehler, Martin
Contributor
Abstract

We offer some preliminary analytical results concerning simplified models of Raibert’s hopper. We represent the task of achieving a recurring hopping height for an actuated “ball” robot as a stability problem in the setting of a nonlinear discrete dynamical system. We model the properties of Raibert’s control scheme in a simplified fashion, and provide conditions under which the procedure results in closed loop dynamics possessed of a globally attracting fixed point - the formal rendering of what we intuitively mean by a “correct” strategy. The motivation for this work is the hope that it will facilitate the development of general design principles for “dynamically dexterous” robots. For more information: Kod*Lab

Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
1988-05-01
Journal title
International Journal of Robotics Research
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Recommended citation
@inproceedings{kod-yale-1988-0, title = {Analysis of a Simplified Hopping Robot}, author = {M. Buehler and D.E. Koditschek}, booktitle = {Center for Systems Science, Yale University}, year = {1988}, }
Collection