3 June 2013 Reduction and identification for hybrid dynamical models of terrestrial locomotion
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Abstract
The study of terrestrial locomotion has compelling applications ranging from design of legged robots to development of novel prosthetic devices. From a first-principles perspective, the dynamics of legged locomotion seem overwhelmingly complex as nonlinear rigid body dynamics couple to a granular substrate through viscoelastic limbs. However, a surfeit of empirical data demonstrates that animals use a small fraction of their available degrees-of-freedom during locomotion on regular terrain, suggesting that a reduced-order model can accurately describe the dynamical variation observed during steady-state locomotion. Exploiting this emergent phenomena has the potential to dramatically simplify design and control of micro-scale legged robots. We propose a paradigm for studying dynamic terrestrial locomotion using empirically-validated reduced{order models.
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Samuel A. Burden, S. Shankar Sastry, "Reduction and identification for hybrid dynamical models of terrestrial locomotion", Proc. SPIE 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V, 87251B (3 June 2013); doi: 10.1117/12.2015889; https://doi.org/10.1117/12.2015889
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