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Analysis of a Simplified Hopping Robot

Center for Systems Science, Yale University, 1988

D. E. Koditschek*, Martin Buehler†
*: University of Pennsylvania
†: Yale University
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Abstract
      We offer some preliminary analytical results concerning simplified models of Raibert’s hopper. We represent the task of achieving a recurring hopping height for an actuated “ball” robot as a stability problem in the setting of a nonlinear discrete dynamical system. We model the properties of Raibert’s control scheme in a simplified fashion, and provide conditions under which the procedure results in closed loop dynamics possessed of a globally attracting fixed point - the formal rendering of what we intuitively mean by a “correct” strategy. The motivation for this work is the hope that it will facilitate the development of general design principles for “dynamically dexterous” robots.
BibTeX entry
@inproceedings{kod-yale-1988-0,
   title      = {Analysis of a Simplified Hopping Robot},
   author     = {M. Buehler and D.E. Koditschek},
   booktitle  = {Center for Systems Science, Yale University},
   year       = {1988},
}

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