Towards a factored analysis of legged locomotion models

Author

Altendorfer, Richard ; Koditschek, Daniel E. ; Holmes, Philip

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA

Volume

1

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

37

Abstract

In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the spring loaded inverted pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression despite the non-integrability of the SLIP dynamics. We outline the application of this analysis of other models of legged locomotion and it importance for the stability of legged robots and animals.

Keywords

asymptotic stability; legged locomotion; nonlinear control systems; algebraic expression; asymptotic stability; hybrid legged locomotion system; legged animals; legged robots; return maps; spring loaded inverted pendulum; stability analysis; Asymptotic stability; Biological system modeling; Clocks; Lagrangian functions; Leg; Legged locomotion; Robot kinematics; Springs; Stability analysis; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1241570

Filename

1241570