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Control of a spring-mass hopper.

Carver, Sean Goodwin.

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Control of a spring-mass hopper.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Control of a spring-mass hopper./
Author:	Carver, Sean Goodwin.
Description:	233 p.
Notes:	Adviser: John Guckenheimer.
Contained By:	Dissertation Abstracts International63-12B.
Subject:	Artificial Intelligence. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3075880
ISBN:	0493961739

Control of a spring-mass hopper.
Carver, Sean Goodwin.

Control of a spring-mass hopper. - 233 p.

Adviser: John Guckenheimer.

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

Finally we show that the optimal performance of a hopper improves if it has lateral control over the location of its foot (or center of pressure) during stance. Such control can be achieved if the hopper has a wide foot and an ankle joint.

ISBN: 0493961739Subjects--Topical Terms:

769149
Artificial Intelligence.

Control of a spring-mass hopper.
LDR:03041nam 2200349 a 45 001 933158
005 20110505
008 110505s2003 eng d
020 $a 0493961739
035 $a (UnM)AAI3075880
035 $a AAI3075880
040 $a UnM $c UnM
100 1 $a Carver, Sean Goodwin. $3 1256897
245 1 0 $a Control of a spring-mass hopper.
300 $a 233 p.
500 $a Adviser: John Guckenheimer.
500 $a Source: Dissertation Abstracts International, Volume: 63-12, Section: B, page: 5881.
502 $a Thesis (Ph.D.)--Cornell University, 2003.
520 $a Finally we show that the optimal performance of a hopper improves if it has lateral control over the location of its foot (or center of pressure) during stance. Such control can be achieved if the hopper has a wide foot and an ankle joint.
520 $a This dissertation examines control of a spring-mass hopper, a mathematical model of a robotic pogo stick. The model is widely used in biomechanics and robotics to describe legged locomotion. We focus on determining the model's optimal performance and its limitations.
520 $a To address optimal performance we study <italic>deadbeat control strategies </italic>, strategies that achieve a desired motion exactly in a finite number of strides. We ask the question: what is the minimum number of strides required to stabilize hopping? We find that the answer depends upon the constraints we place on the gait. For example, if we only impose a direction on the hopper, a perturbation can be corrected exactly in only one stride. However, if we impose a line of motion on the hopper, perturbations take two strides to correct.
520 $a To address the model's limitations, we identify tasks that are impossible for the hopper. For example, we find that it is impossible to <italic>change lanes</italic> (move from one line of motion to a parallel one) in one stride. In addition we find that it is impossible to take a step to the side then resume motion in the original line without taking two correction steps. More generally, we determine which sequences of footprints are hard to follow by looking at the sensitivity of the hopper's footprints to the applied control. We present preliminary data to test whether human hoppers can perform the tasks that a spring-mass hopper cannot.
520 $a Though evaluating the deadbeat control law (the function relating control outputs to inputs) is very expensive, we show it can be approximated in real time by interpolating previously computed values. The number of precomputed values needed greatly diminishes if the speed and height is approximately the same at every apex. We study what is required to produce and stabilize hopping of this sort.
590 $a School code: 0058.
650 4 $a Artificial Intelligence. $3 769149
650 4 $a Biology, Animal Physiology. $3 1017835
650 4 $a Biophysics, General. $3 1019105
650 4 $a Mathematics. $3 515831
690 $a 0405
690 $a 0433
690 $a 0786
690 $a 0800
710 2 0 $a Cornell University. $3 530586
773 0 $t Dissertation Abstracts International $g 63-12B.
790 $a 0058
790 1 0 $a Guckenheimer, John, $e advisor
791 $a Ph.D.
792 $a 2003
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3075880