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On performance and stability in open-loop running.

Record Type:	Electronic resources : Monograph/item
Title/Author:	On performance and stability in open-loop running.
Author:	Cham, Jorge Gabriel.
Description:	118 p.
Notes:	Adviser: Mark R. Cutkosky.
Notes:	Source: Dissertation Abstracts International, Volume: 64-03, Section: B, page: 1449.
Contained By:	Dissertation Abstracts International64-03B.
Subject:	Engineering, Mechanical.
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3085263
ISBN:	0496330705

On performance and stability in open-loop running.
Cham, Jorge Gabriel.

On performance and stability in open-loop running. [electronic resource] - 118 p.

Adviser: Mark R. Cutkosky.

Thesis (Ph.D.)--Stanford University, 2003.

Legged robots can provide access to hazardous environments such as waste sites, disaster areas and even the surfaces of other planets, where large obstacles and uneven terrain impede mobility with traditional wheeled systems. Looking to nature for design inspiration, a family of hexapedal robots has been developed that rely on passive mechanical properties and a simple open-loop motor control program to achieve fast and robust performance that begins to compare to that seen in nature. These robots are capable of running at over 4 body-lengths/second and can overcome hip-height obstacles without significantly slowing down. Although this approach works well for a range of open-loop parameters, the question of how to "tune" the system to achieve maximum performance while maintaining stability, especially as conditions change, arises. This thesis analyzes the trade-offs in stability and performance for open-loop running systems like the robots starting with simplified one and two degree-of-freedom dynamic models. Analyses of these models are then validated with experimental data of the running hexapods. Results reveal conditions for optimal performance and demonstrate inherent limitations in the use of open-loop control in running. Based on these findings, strategies for adaptation, or self-tuning, of the open-loop motor program are proposed that require only simple, low-bandwidth sensory feedback. One of these strategies is demonstrated experimentally in the adaptation of stride period in a hexapedal running robot.

ISBN: 0496330705Subjects--Topical Terms:

212470
Engineering, Mechanical.

On performance and stability in open-loop running.
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502 $a Thesis (Ph.D.)--Stanford University, 2003.
520 # $a Legged robots can provide access to hazardous environments such as waste sites, disaster areas and even the surfaces of other planets, where large obstacles and uneven terrain impede mobility with traditional wheeled systems. Looking to nature for design inspiration, a family of hexapedal robots has been developed that rely on passive mechanical properties and a simple open-loop motor control program to achieve fast and robust performance that begins to compare to that seen in nature. These robots are capable of running at over 4 body-lengths/second and can overcome hip-height obstacles without significantly slowing down. Although this approach works well for a range of open-loop parameters, the question of how to "tune" the system to achieve maximum performance while maintaining stability, especially as conditions change, arises. This thesis analyzes the trade-offs in stability and performance for open-loop running systems like the robots starting with simplified one and two degree-of-freedom dynamic models. Analyses of these models are then validated with experimental data of the running hexapods. Results reveal conditions for optimal performance and demonstrate inherent limitations in the use of open-loop control in running. Based on these findings, strategies for adaptation, or self-tuning, of the open-loop motor program are proposed that require only simple, low-bandwidth sensory feedback. One of these strategies is demonstrated experimentally in the adaptation of stride period in a hexapedal running robot.
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