Departmental Papers (ESE)

Image

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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

1-1-2001

Comments

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.

Keywords

legged locomotion, coupled oscillators, clock driven system, CPG, feedforward control, biomechanics, spring-mass model

Share

COinS
 

Date Posted: 02 June 2008

This document has been peer reviewed.