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Towards a factored analysis of legged locomotion models

Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003

R. Altendorfer*, P. Holmes†, D. E. Koditschek*
*:Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, US
†: Dept. of Mech. and Aerospace Eng., Princeton University, Princeton, NJ 08544, US

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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.
BibTeX entry
@inproceedings{IEEE-ICRA-2==3,
  author       = {R. Altendorfer and and P. Holmes and D. E. Koditschek},
  title        = {Towards a factored analysis of legged locomotion models},
  booktitle    = {Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan},
  year         = {2003}
}

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