DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations

Amir Degani, Howie Choset, and Matthew T. Mason
Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.


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Abstract
This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a single actuator. This mechanism achieves dynamic, vertical motion while retaining simplicity in design and control. We explore the local orbital stability of the DSAC mechanism. We use the Poincar´e map method with a well chosen Poincar´e section to simplify the problem by reducing the dimension of the Poincar´e map to 3-dimensions. We find the stable regions while varying the controls input and some of the mechanism’s parameters. Moreover, in response to a continuous change in a parameter of the mechanism, the symmetric and steady stable gait of the mechanism gradually evolves through a regime of period doubling bifurcations.

Keywords
Dynamic Climbing, Locomotion, Bifurcation, Local Stability, open loop

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab and Biorobotics
Associated Project(s): Dynamic Climbing

Text Reference
Amir Degani, Howie Choset, and Matthew T. Mason, "DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations," Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA), May, 2010.

BibTeX Reference
@inproceedings{Degani_2010_6604,
   author = "Amir Degani and Howie Choset and Matthew T. Mason",
   title = "DSAC – Dynamic, Single Actuated Climber. Local Stability and Bifurcations",
   booktitle = "Proc. of the 2010 IEEE International Conference on Robotics and Automation (ICRA)",
   month = "May",
   year = "2010",
}