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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

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dc.contributor.authorLee, Jongwooen
dc.contributor.authorHyun, Dong Jin-
dc.contributor.authorAhn, Jooeun-
dc.contributor.authorKim, Sangbae-
dc.contributor.authorHogan, Neville-
dc.date.accessioned2017-04-19T00:19:15Z-
dc.date.available2017-12-27T14:12:25Z-
dc.date.issued2014-09-16-
dc.identifier.citation2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 4907-4913-
dc.identifier.issn2153-0858-
dc.identifier.urihttps://hdl.handle.net/10371/116814-
dc.description.abstractThe 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.sponsorshipThis project was supported in part by the 'DARPA Maximum Mobility and Manipulation Program'. Jongwoo Lee was supported by the Sam sung Scholarship.-
dc.publisherIEEEen
dc.subjectOn the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcationsen
dc.subject공학en
dc.titleOn the dynamics of a quadruped robot model with impedance control; self-stabilizing high speed trot-running and period-doubling bifurcationsen
dc.typeConference Paperen
dc.contributor.AlternativeAuthor이종우-
dc.contributor.AlternativeAuthor현동진-
dc.contributor.AlternativeAuthor안주은-
dc.contributor.AlternativeAuthor김상배-
dc.identifier.doi10.1109/IROS.2014.6943260-
dc.description.srndOAIID:RECH_ACHV_DSTSH_NO:A201400315-
dc.description.srndRECH_ACHV_FG:RR00200003-
dc.description.srndADJUST_YN:-
dc.description.srndEMP_ID:A080358-
dc.description.srndCITE_RATE:-
dc.description.srndDEPT_NM:체육교육과-
dc.description.srndEMAIL:ahnjooeun@snu.ac.kr-
dc.description.srndSCOPUS_YN:-
dc.description.srndCONFIRM:Y-
dc.identifier.srndA201400315-
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