On the stable passive dynamics of quadrupedal running

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	2014-03-01T02:42:18Z
dc.date.available	2014-03-01T02:42:18Z
dc.date.issued	2003	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/30930
dc.subject	Dynamic Model	en
dc.subject	High Performance	en
dc.subject	Legged Locomotion	en
dc.subject	Legged Robot	en
dc.subject	Local Stability	en
dc.subject	Mechanical Systems	en
dc.subject	Mobile Robot	en
dc.subject	Nervous System	en
dc.subject	Neural Control	en
dc.subject	Quadruped Robot	en
dc.subject	Rough Terrain	en
dc.subject	State Feedback	en
dc.subject	State Feedback Control	en
dc.subject	Feed Forward	en
dc.subject.other	Biomechanics	en
dc.subject.other	Dynamics	en
dc.subject.other	Feedforward neural networks	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion control	en
dc.subject.other	Perturbation techniques	en
dc.subject.other	Recurrent neural networks	en
dc.subject.other	System stability	en
dc.subject.other	Passive dynamics	en
dc.subject.other	Quadruped robot	en
dc.subject.other	Quadrupedal running	en
dc.subject.other	Mobile robots	en
dc.title	On the stable passive dynamics of quadrupedal running	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2003.1241782	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2003.1241782	en
heal.publicationDate	2003	en
heal.abstract	In this paper, we study the passive dynamics of quadrupedal bounding, based on a simplified model of our Scout II quadruped robot. 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 of the motion! Stability improves at higher speeds, which is in agreement with recent results from biomechanics. These results can be used in developing a general control methodology for legged robots, resulting from the synthesis of feed-forward 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.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2003.1241782	en
dc.identifier.volume	1	en
dc.identifier.spage	1368	en
dc.identifier.epage	1373	en