On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization

dc.citation.epage1256en_US
dc.citation.issueNumber2en_US
dc.citation.spage1237en_US
dc.citation.volumeNumber88en_US
dc.contributor.authorHamzaçebi, H.en_US
dc.contributor.authorMorgül, Ö.en_US
dc.date.accessioned2018-04-12T11:14:08Z
dc.date.available2018-04-12T11:14:08Z
dc.date.issued2017en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractSpring-loaded inverted pendulum (SLIP) template (and its various derivatives) could be considered as the mostly used and widely accepted models for describing legged locomotion. Despite their simple nature, as being a simple spring-mass model in dynamics perspective, the SLIP model and its derivatives are formulated as restricted three-body problem, whose non-integrability has been proved long before. Thus, researchers proceed with approximate analytical solutions or use partial feedback linearization when numerical integration is not preferred in their analysis. The key contributions of this paper can be divided into two parts. First, we propose a dissipative SLIP model, which we call as multi-actuated dissipative SLIP (MD-SLIP), with two extended actuators: one linear actuator attached serially to the leg spring and one rotary actuator attached to hip. The second contribution of this paper is a partial feedback linearization strategy by which we can cancel some nonlinear dynamics of the proposed model and obtain exact analytical solution for the equations of motion. This allows us to investigate stability characteristics of the hopping gait obtained from the MD-SLIP model. We illustrate the applicability of our solutions with open-loop and closed-loop hopping performances on rough terrain simulations. © 2017, Springer Science+Business Media Dordrecht.en_US
dc.description.provenanceMade available in DSpace on 2018-04-12T11:14:08Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 179475 bytes, checksum: ea0bedeb05ac9ccfb983c327e155f0c2 (MD5) Previous issue date: 2017en
dc.identifier.doi10.1007/s11071-016-3307-yen_US
dc.identifier.issn0924-090X
dc.identifier.urihttp://hdl.handle.net/11693/37464
dc.language.isoEnglishen_US
dc.publisherSpringer Netherlandsen_US
dc.relation.isversionofhttp://dx.doi.org/10.1007/s11071-016-3307-yen_US
dc.source.titleNonlinear Dynamicsen_US
dc.subjectHybrid dynamical systemen_US
dc.subjectLegged locomotionen_US
dc.subjectPartial feedback linearizationen_US
dc.subjectSLIPen_US
dc.subjectSpring-loaded inverted pendulumen_US
dc.subjectSpring-mass hopperen_US
dc.titleOn the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearizationen_US
dc.typeArticleen_US

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