Departmental Papers (ESE)



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

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



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}, }



Date Posted: 05 November 2013

This document has been peer reviewed.