A parametric study on the passive dynamics of straight-ahead level-ground quadrupedal running

Chatzakos, P; Papadopoulos, E

dc.contributor.author	Chatzakos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:45:55Z
dc.date.available	2014-03-01T02:45:55Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32455
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-70449411116&partnerID=40&md5=d4860604fa2b25c3ac064266bd43d0df	en
dc.relation.uri	http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=05174683	en
dc.relation.uri	http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5174683	en
dc.subject	Legged robots	en
dc.subject	Mechanical design	en
dc.subject	Parametric analysis	en
dc.subject	Passive dynamics	en
dc.subject	Running quadrupeds	en
dc.subject.other	Legged robots	en
dc.subject.other	Mechanical design	en
dc.subject.other	Parametric analysis	en
dc.subject.other	Passive dynamics	en
dc.subject.other	Running quadrupeds	en
dc.subject.other	Control system stability	en
dc.subject.other	Machine design	en
dc.subject.other	Mathematical models	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	System stability	en
dc.subject.other	Vibrations (mechanical)	en
dc.subject.other	Robot programming	en
dc.title	A parametric study on the passive dynamics of straight-ahead level-ground quadrupedal running	en
heal.type	conferenceItem	en
heal.identifier.secondary	5174683	en
heal.publicationDate	2009	en
heal.abstract	This paper examines the passive dynamics of straight-ahead level ground quadrupedal running and explores its use in formulating design guidelines that would: a) reduce steady-state roll and b) self-stabilize the rolling motion, thus making the control of the robot more straightforward.To study the effect of mechanical design in the rolling motion, a simple bounding-in-place (BIP) template is introduced as a candidate frontal plane model that captures the targeted steady-state behavior of a straight-ahead level ground running quadruped robot.This model is parametrically analyzed and local stability analysis shows that the dynamics of the open loop passive system alone can confer stability of the motion! These results might explain the success of simple, open loop running controllers on existing experimental robots and can be further used in developing control methodologies for legged robots that take advantage of the mechanical system.	en
heal.journalName	2009 International Conference on Advanced Robotics, ICAR 2009	en