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dc.contributor.authorAnkarali, M. M.en_US
dc.contributor.authorSaranli, U.en_US
dc.date.accessioned2016-02-08T09:57:47Z
dc.date.available2016-02-08T09:57:47Z
dc.date.issued2010en_US
dc.identifier.issn1054-1500
dc.identifier.urihttp://hdl.handle.net/11693/22268
dc.description.abstractIn this paper, we analyze the self-stability properties of planar running with a dissipative spring-mass model driven by torque actuation at the hip. We first show that a two-dimensional, approximate analytic return map for uncontrolled locomotion with this system under a fixed touchdown leg angle policy and an open-loop ramp torque profile exhibits only marginal self-stability that does not always persist for the exact system. We then propose a per-stride feedback strategy for the hip torque that explicitly compensates for damping losses, reducing the return map to a single dimension and substantially improving the robust stability of fixed points. Subsequent presentation of simulation evidence establishes that the predictions of this approximate model are consistent with the behavior of the exact plant model. We illustrate the relevance and utility of our model both through the qualitative correspondence of its predictions to biological data as well as its use in the design of a task-level running controller. © 2010 American Institute of Physics.en_US
dc.language.isoEnglishen_US
dc.source.titleChaos: an interdisciplinary journal of nonlinear scienceen_US
dc.relation.isversionofhttp://dx.doi.org/10.1063/1.3486803en_US
dc.subjectControl theoryen_US
dc.subjectEnergy conservationen_US
dc.subjectRoboticsen_US
dc.subjectBiomechanicsen_US
dc.subjectApproximation methodsen_US
dc.subjectComposite materialsen_US
dc.subjectPhase space methodsen_US
dc.subjectSlip systemsen_US
dc.subjectEnergy productionen_US
dc.subjectTransmission and distributionen_US
dc.subjectEnergy use and applicationsen_US
dc.titleStride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopperen_US
dc.typeArticleen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.citation.spage1en_US
dc.citation.epage14en_US
dc.citation.volumeNumber20en_US
dc.citation.issueNumber3en_US
dc.identifier.doi10.1063/1.3486803en_US
dc.publisherA I P Publishing LLCen_US


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