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dc.contributor.authorUyanık, İ.en_US
dc.contributor.authorAnkaralı, M. M.en_US
dc.contributor.authorCowan, N. J.en_US
dc.contributor.authorSaranlı U.en_US
dc.contributor.authorMorgül, Ö.en_US
dc.date.accessioned2019-02-11T12:34:41Z
dc.date.available2019-02-11T12:34:41Z
dc.date.issued2016en_US
dc.identifier.issn0142-3312
dc.identifier.urihttp://hdl.handle.net/11693/49252
dc.description.abstractA common approach to understanding and controlling robotic legged locomotion is the construction and analysis of simplified mathematical models that capture essential features of locomotor behaviours. However, the representational power of such simple mathematical models is inevitably limited due to the non-linear and complex nature of biological locomotor systems. Attempting to identify and explicitly incorporate key non-linearities into the model is challenging, increases complexity, and decreases the analytic utility of the resulting models. In this paper, we adopt a data-driven approach, with the goal of furnishing an input–output representation of a locomotor system. Our method is based on approximating the hybrid dynamics of a legged locomotion model around its limit cycle as a Linear Time Periodic (LTP) system. Perturbing inputs to the locomotor system with small chirp signals yield the input–output data necessary for the application of LTP system identification techniques, allowing us to estimate harmonic transfer functions (HTFs) associated with the local LTP approximation to the system dynamics around the limit cycle. We compare actual system responses with responses predicted by the HTF, providing evidence that data-driven system identification methods can be used to construct models for locomotor behaviours.en_US
dc.language.isoEnglishen_US
dc.source.titleTransactions of the Institute of Measurement and Controlen_US
dc.relation.isversionofhttps://doi.org/10.1177/0142331215583327en_US
dc.subjectSystem identificationen_US
dc.subjectHarmonic transfer functionsen_US
dc.subjectLegged locomotionen_US
dc.subjectPeriodic systemsen_US
dc.titleIdentification of a vertical hopping robot model via harmonic transfer functionsen_US
dc.typeArticleen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.citation.spage501en_US
dc.citation.epage511en_US
dc.citation.volumeNumber38en_US
dc.citation.issueNumber5en_US
dc.identifier.doi10.1177/0142331215583327en_US
dc.publisherSage Publications Ltd.en_US


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