Extended Version of Stability of a Groucho-Style Bounding Run in the Sagittal Plane

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dc.contributor.authorDuperret, Jeff
dc.contributor.authorKoditschek, Daniel E
dc.date2023-05-17T23:12:36.000
dc.date.accessioned2023-05-22T19:14:17Z
dc.date.available2023-05-22T19:14:17Z
dc.date.issued2023-01-12
dc.date.submitted2019-12-05T06:45:55-08:00
dc.description.abstractThis paper develops a three degree-of-freedom sagittal-plane hybrid dynamical systems model of a Groucho-style bounding quadrupedal run. Simple within-stance controls using a modular architecture yield a closed form expression for a family of hybrid limit cycles that represent bounding behavior over a range of user-selected fore-aft speeds as a function of the model's kinematic and dynamical parameters. Controls acting on the hybrid transitions are structured so as to achieve a cascade composition of in-place bounding driving the fore-aft degree of freedom, thereby decoupling the linearized dynamics of an approximation to the stride map. Careful selection of the feedback channels used to implement these controls affords infinitesimal deadbeat stability which is relatively robust against parameter mismatch. Experiments with a physical quadruped reasonably closely match the bounding behavior predicted by the hybrid limit cycle and its stable linearized approximation.
dc.formatflash_audio
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/34163
dc.legacy.articleid1029
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1029&context=ese_reports&unstamped=1
dc.relation.url
dc.relation.urlhttps://repository.upenn.edu/ese_images/1078/preview.jpg
dc.source.issue24
dc.source.journalTechnical Reports (ESE)
dc.source.statuspublished
dc.subject.otherKodlab
dc.subject.otherElectrical and Computer Engineering
dc.subject.otherEngineering
dc.subject.otherSystems Engineering
dc.titleExtended Version of Stability of a Groucho-Style Bounding Run in the Sagittal Plane
dc.typeReport
digcom.identifierese_reports/24
digcom.identifier.contextkey15927279
digcom.identifier.submissionpathese_reports/24
digcom.typereport
dspace.entity.typePublication
relation.isAuthorOfPublication17ca67ba-0102-481f-8516-8466d04075dd
relation.isAuthorOfPublicationb6e8657c-2331-43df-97c3-92e79f74a7be
relation.isAuthorOfPublication.latestForDiscovery17ca67ba-0102-481f-8516-8466d04075dd
upenn.schoolDepartmentCenterTechnical Reports (ESE)
upenn.schoolDepartmentCenterKod*lab
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