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Analysis of a Simplified Hopping Robot

Proceedings of the IEEE International Conference on Robotics and Automation, April 1988

M. Buehler and D. E. Koditschek
Yale University
Full PDF | Penn ScholarlyCommons | Web Link

Abstract
The authors construct a simplified model of a dynamically dexterous robot, M.H. Raibert’s hopper, and investigate its elegant, physically based control strategies. Analysis of induced discrete dynamics leads to strong conclusions concerning global limiting properties. These conclusions are then verified by computer simulation of the simplified models, the correspondence of which to the true physical apparatus is seen to be acceptable as well.
BibTeX entry
@inproceedings{kod-icra-1988,
   title      = {Analysis of a Simplified Hopping Robot},
   author     = {M. Buehler and D.E. Koditschek},
   booktitle  = {Proceedings of the IEEE International Conference on Robotics and Automation},
   year       = {1988},
   month      = {April},
   pages      = {817-819},
}

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