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Register a new userRegions of Attraction for Hybrid Limit Cycles of Walking Robots
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Added by
Ian Manchester
Publication date
2010
fields
Informatics Engineering
and research's language is
English
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This paper illustrates the application of recent research in region-of-attraction analysis for nonlinear hybrid limit cycles. Three example systems are analyzed in detail: the van der Pol oscillator, the rimless wheel, and the compass gait, the latter two being simplified models of underactuated walking robots. The method used involves decomposition of the dynamics about the target cycle into tangential and transverse components, and a search for a Lyapunov function in the transverse dynamics using sum-of-squares analysis (semidefinite programming). Each example illuminates different aspects of the procedure, including optimization of transversal surfaces, the handling of impact maps, optimization of the Lyapunov function, and orbitally-stabilizing control design.
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