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Goran Lynch

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A Self-Exciting Controller for High-Speed Vertical Running

International Conference on Intelligent Robots and Systems, October 2009

Goran A. Lynch*, Jonathan E. Clark†, D. E. Koditschek*
*: Electrical and Systems Engineering, University of Pennsylvania
†: Mechanical Engineering, FAMU & FSU College of Engineering

Full PDF | Penn Scholarly Commons | Web Link

       Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this “self-exciting” controller does indeed generate an “almost” globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second.
“Control vectors”
Control vector field with superimposed data from robot
BibTeX entry
  author       = {Goran A. Lynch and Jonathan E. Clark and Daniel Koditschek},
  title        = {A Self-Exciting Controller for High-Speed Vertical Running},
  booktitle    = {International Conference on Intelligent Robots and Systems},
  year         = {2009},
  address      = {St. Louis, Missouri, USA},
  month        = {October},
Related Sites
DynoClimber - the robot platform used in this paper
http://www.iros09.mtu.edu/ - conference website

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