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On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Jongwoo | en |
dc.contributor.author | Hyun, Dong Jin | - |
dc.contributor.author | Ahn, Jooeun | - |
dc.contributor.author | Kim, Sangbae | - |
dc.contributor.author | Hogan, Neville | - |
dc.date.accessioned | 2017-04-19T00:19:15Z | - |
dc.date.available | 2017-12-27T14:12:25Z | - |
dc.date.issued | 2014-09-16 | - |
dc.identifier.citation | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4907-4913 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://hdl.handle.net/10371/116814 | - |
dc.description.abstract | The MIT Cheetah demonstrated a stable 6 m/s trot gait in the sagittal plane utilizing the self-stable characteristics of locomotion. This paper presents a numerical analysis of the behavior of a quadruped robot model with the proposed controller. We first demonstrate the existence of periodic trot gaits at various speeds and examine local orbital stability of each trajectory using Poincar`e map analysis. Beyond the local stability, we additionally demonstrate the stability of the model against large initial perturbations. Stability of trot gaits at a wide range of speed enables gradual acceleration demonstrated in this paper and a real machine. This simulation study also suggests the upper limit of the command speed that ensures stable steady-state running. As we increase the command speed, we observe series of period-doubling bifurcations, which suggests presence of chaotic dynamics beyond a certain level of command speed. Extension of this simulation analysis will provide useful guidelines for searching control parameters to further improve the system performance. | - |
dc.description.sponsorship | This project was supported in part by the 'DARPA Maximum Mobility and Manipulation Program'. Jongwoo Lee was supported by the Sam sung Scholarship. | - |
dc.publisher | IEEE | en |
dc.subject | On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations | en |
dc.subject | 공학 | en |
dc.title | On the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcations | en |
dc.type | Conference Paper | en |
dc.contributor.AlternativeAuthor | 이종우 | - |
dc.contributor.AlternativeAuthor | 현동진 | - |
dc.contributor.AlternativeAuthor | 안주은 | - |
dc.contributor.AlternativeAuthor | 김상배 | - |
dc.identifier.doi | 10.1109/IROS.2014.6943260 | - |
dc.description.srnd | OAIID:RECH_ACHV_DSTSH_NO:A201400315 | - |
dc.description.srnd | RECH_ACHV_FG:RR00200003 | - |
dc.description.srnd | ADJUST_YN: | - |
dc.description.srnd | EMP_ID:A080358 | - |
dc.description.srnd | CITE_RATE: | - |
dc.description.srnd | DEPT_NM:체육교육과 | - |
dc.description.srnd | EMAIL:ahnjooeun@snu.ac.kr | - |
dc.description.srnd | SCOPUS_YN: | - |
dc.description.srnd | CONFIRM:Y | - |
dc.identifier.srnd | A201400315 | - |
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