On the stability of the passive dynamics of quadrupedal running with a bounding gait

Poulakakis, I; Papadopoulos, E; Buehler, M

dc.contributor.author	Poulakakis, I	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Buehler, M	en
dc.date.accessioned	2014-03-01T01:24:48Z
dc.date.available	2014-03-01T01:24:48Z
dc.date.issued	2006	en
dc.identifier.issn	0278-3649	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17441
dc.subject	Bounding gait	en
dc.subject	Dynamic running	en
dc.subject	Passive dynamics	en
dc.subject	Quadrupedal robot	en
dc.subject.classification	Robotics	en
dc.subject.other	Control systems	en
dc.subject.other	Feedforward neural networks	en
dc.subject.other	Gait analysis	en
dc.subject.other	Mathematical models	en
dc.subject.other	Robots	en
dc.subject.other	Bounding gait	en
dc.subject.other	Dynamic running	en
dc.subject.other	Passive dynamics	en
dc.subject.other	Quadrupedal robot	en
dc.subject.other	Passive networks	en
dc.title	On the stability of the passive dynamics of quadrupedal running with a bounding gait	en
heal.type	journalArticle	en
heal.identifier.primary	10.1177/0278364906066768	en
heal.identifier.secondary	http://dx.doi.org/10.1177/0278364906066768	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	This paper examines the passive dynamics of quadrupedal bounding. First, an unexpected difference between local and global behavior of the forward speed versus touchdown angle in the self-stabilized Spring Loaded Inverted Pendulum (SLIP) model is exposed and discussed. Next, the stability properties of a simplified sagittal plane model of our Scout II quadrupedal robot are investigated. Despite its simplicity, this model captures the targeted steady state behavior of Scout II without dependence on the fine details of the robot structure. Two variations of the bounding gait, which are observed experimentally in Scout II, are considered. Surprisingly, numerical return map studies reveal that passive generation of a large variety of cyclic bounding motion is possible. Most strikingly, local stability analysis shows that the dynamics of the open loop passive system alone can confer stability to the motion! These results can be used in developing a general control methodology for legged robots, resulting from the synthesis of feedforward and feedback models that take advantage of the mechanical system, and might explain the success of simple, open loop bounding controllers on our experimental robot. © 2006 SAGE Publications.	en
heal.publisher	SAGE PUBLICATIONS LTD	en
heal.journalName	International Journal of Robotics Research	en
dc.identifier.doi	10.1177/0278364906066768	en
dc.identifier.isi	ISI:000238947900003	en
dc.identifier.volume	25	en
dc.identifier.issue	7	en
dc.identifier.spage	669	en
dc.identifier.epage	687	en