Towards a Factored Analysis of Legged Locomotion Models

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 to other models of legged locomotion and its importance for the stability of legged robots and animals.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2002
Accession Number
ADA460353

Entities

People

  • Daniel E. Koditschek
  • Philip Holmes
  • Richard Altendorfer

Organizations

  • University of Michigan

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Animal Locomotion
  • Ballistic Trajectories
  • Clocks
  • Computer Science
  • Coordinate Systems
  • Dynamics
  • Eigenvalues
  • Electrical Engineering
  • Engineering
  • Equations
  • Equations Of Motion
  • Hybrid Systems
  • Locomotion
  • Simulations
  • Steady State
  • Trajectories
  • Two Dimensional

Fields of Study

  • Mathematics

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control