Instability and chaos in quadruped gallop

Journal of Mechanical Design, Transactions of the ASME

Volumn 116, Issue 4, 1994, Pages 1096-1101

  Nanua, P ^a,b   Waldron, K J ^a  

^a OHIO STATE UNIVERSITY   (United States)

^b GENERAL MOTORS CORPORATION   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CHAOS THEORY; CONTROL EQUIPMENT; FORCE CONTROL; MAPS; MATHEMATICAL MODELS; MECHANISMS; SPEED CONTROL; STIFFNESS; SYSTEM STABILITY;

POINCARE MAPS; QUADRUPED GALLOP;

MACHINE DESIGN;

EID: 0028698112     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2919492     Document Type: Article

References (15)

1. Koditschek, D. E., and Buhler, M., 1991, “Analysis of a Simplified Hopping Robot,” The International Journal of Robotics Research, Vol. 10, No. 6, pp. 587-605, Dec.
2. Moon, F. C., 1987, Chaotic Vibrations, John Wiley & Sons.
3. Murphy, K. N., and Raibert, M. H., 1985, “Trotting and Bounding in a Planar Two-Legged Model,” Fifth Symposium on Theory and Practice of Robots and Manipulators, pp. 411-420, MIT Press.
4. Nanua, P., 1992, “Dynamics of a Galloping Quadruped,” Ph. D. Thesis, The Ohio State University.
5. Nanua, P., and Waldron, K. J., 1992, “Instability and Chaos in Quadruped Gallop,” The 1992 ASME Design Technical Conference-22nd Biennial Mechanisms Conference, Vol. 45, pp. 599-608, Sept.
6. Pandy, M. G., Kumar, V., Berme, N., and Waldron, K. J., 1988, “The Dynamics of Quadrupedal Locomotion,” ASME Journal of Biomechanical Engineering, Vol. 110, pp. 230-237, August.
7. Raibert, M. H., 1981, “Dynamic Stability and Resonance in a One-Legged Hopping Machine,” Fourth Symposium on Theory and Practice of Robots and Manipulators, Warsaw, pp. 352-367, Polish Scientific Publishers.
8. Raibert, M. H., 1984, “Hopping in Legged Systems--Modeling and Simulation for the 2D One-Legged Case,” IEEE Transactions on System, Man, and Cybernetics, Vol. SMC-14, pp. 451-463, June.
9. Raibert, M. H., 1986, “Running With Symmetry,” The International Journal of Robotics Research, Vol. 5, pp. 3-19, Winter.
10. Raibert, M. H., 1986, Legged Robots That Balance, MIT Press, Cambridge, MA.
11. Raibert, M. H., Chepponis, M., and Brown, H. B., 1986, “Running on Four Legs As Though They Were One,” IEEE Journal of Robotics and Automation, Vol. RA-2, pp. 70-82, June.
12. Song, S. M., and Waldron, K. J., 1989, Machines That Walk: The Adaptive Suspension Vehicle, MIT Press, Cambridge, MA.
13. Sutherland, I. E., and Ullner, M. K., 1984, “Footprints in the Asphalt,” International Journal of Robotics Research, Vol. 3, pp. 29-36.
14. Tabor, M., 1989, Chaos andIntegrability in Nonlinear Dynamics, John Wiley & Sons.
15. Vakakis, A. F., Burdick, J. W., and Caughey, T. K., 1991, “An Interesting Strange Attractor in the Dynamics of a Hopping Robot,” Vol. 10, No. 6, pp. 606-618, Dec.