Accession Number:

ADA460353

Title:

Towards a Factored Analysis of Legged Locomotion Models

Descriptive Note:

Corporate Author:

MICHIGAN UNIV ANN ARBOR DEPT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE

Report Date:

2002-01-01

Pagination or Media Count:

10.0

Abstract:

In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum SLIP with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression despite the non-integrability of the SLIP dynamics. We outline the application of this analysis to other models of legged locomotion and its importance for the stability of legged robots and animals.

Subject Categories:

  • Anatomy and Physiology
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE