Preliminary Analysis of a Biologically Inspired 1-DOF "Clock" Stabilized Hopper
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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Discipline
Subject
GRASP
Kodlab
legged locomotion
coupled oscillators
clock driven system
CPG
feedforward control
biomechanics
spring-mass model
Electrical and Computer Engineering
Engineering
Systems Engineering
Kodlab
legged locomotion
coupled oscillators
clock driven system
CPG
feedforward control
biomechanics
spring-mass model
Electrical and Computer Engineering
Engineering
Systems Engineering
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Komsuoglu, Haldun
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Abstract
We investigate the stability of a one degree of freedom mechanical spring-mass system modulated by a feed-forward "clock" that stiffens and relaxes a Hooke's law potential force according to a periodic rhythm. At the present early stage of inquiry, we offer sufficient conditions for local asymptotic stability of an isolated periodic orbit when there is no feedback to the clock at all but some viscous friction in the mechanism. We conjecture that, absent feedback, a lossless mechanical system cannot exhibit an asymptotically stable limit cycle in response to such rhythmic excitation.
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2001-01-01
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Departmental Papers (ESE)
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2023-05-17T02:16:25.000
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n Systemics, Cybernetics and Informatics, 2000. Copyright 2000 IEEE. Reprinted from Proceedings of the 4th World Multiconference. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.