Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper

Download

index.pdf

Date

2010-09-01

Author

Ankaralı, Mustafa Mert
Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

51
views

0
downloads

In 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. (c) 2010 American Institute of Physics. [doi: 10.1063/1.3486803]

Subject Keywords

Gait analysis, Legged locomotion, Springs (mechanical), Stability

URI

https://hdl.handle.net/11511/45872

Journal

CHAOS

DOI

https://doi.org/10.1063/1.3486803

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Verification and MATLAB implementation of the inverse dynamics model of the METU gait analysis system Erer, Koray Savaş; Tönük, Ergin; Department of Mechanical Engineering (2008) The METU Gait Analysis System employs a computer program called Kiss-GAIT for the calculation of joint angles, moments and powers using force plate data and marker trajectories as input. Kiss-GAIT was developed using Delphi and is confined to calculations related to the standard gait protocol. Because the code lacks the flexibility required to carry out various test cases, the inverse dynamics formulation being used could not be verified and the extent of the error propagation problem could not be determine...
Transient dynamic response of viscoelastic cylinders enclosed in filament wound cylindrical composites Şen, Özge; Turhan, Doğan; Department of Engineering Sciences (2005) In this study, transient dynamic response of viscoelastic cylinders enclosed in filament wound cylindrical composites is investigated. Thermal effects, in addition to mechanical effects, are taken into consideration. A generalized thermoelasticity theory which incorporates the temperature rate among the constitutive variables and is referred to as temperature-rate dependent thermoelasticity theory is employed. This theory predicts finite heat propagation speeds. The body considered in this thesis consists o...
NONLINEAR DYNAMIC-MODEL AND ITS SOLUTION FOR A HIGH-SPEED CAM MECHANISM WITH COULOMB-FRICTION Ünlüsoy, Yavuz Samim; Tümer, Sami Turgut (Elsevier BV, 1994-01-20) The dynamic behavior of overhead cam mechanisms, commonly used in automotive applications, is strongly influenced by the Coulomb friction at the rocker arm pivot. In this study, a non-linear one-degree-of-freedom model of such a mechanism including Coulomb friction has been developed. An exact quasi-linear solution to the equations representing the non-linear behavior has been obtained. The effects of Coulomb friction at different cam speeds are investigated using typical parameter values. A critical examin...
Structural Optimization Using ANSYS Panayırcı, H. Murat; Oral, Süha; Department of Mechanical Engineering (2006) This study describes the process of performing structural optimization using ANSYS. In the first part, the general concepts in optimization and optimization algorithms for different type of optimization problems are covered. Also finite element method is introduced briefly in this part. In the second part, important definitions in structural optimization are mentioned. Then the optimization methods available in ANSYS are explained with their theories. Necessary steps to perform optimization with ANSYS are d...
Ride comfort improvement by application of tuned mass dampers and lever type vibration isolators Aydan, Göksu; Ciğeroğlu, Ender; Department of Mechanical Engineering (2010) In this study, the efficiency of linear and rotational tuned mass dampers (TMD) and lever type vibration isolators (LVI) in improving ride comfort is investigated based on a vehicle quarter-car model. TMDs reduce vibration levels by absorbing the energy of the system, especially at their natural frequencies. Both types of TMDs are investigated in the first part of this study. Although linear TMDs can be implemented more easily on suspension systems, rotational TMDs show better performance in reducing vibrat...

Citation Formats

M. M. Ankaralı and U. Saranlı, “Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper,” CHAOS, pp. 0–0, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/45872.