Data driven models of legged locomotion

Shai Revzen, M Kvalheim

Proc SPIE, vol. 9467, pp. 1-8, 2015

Data driven models of legged locomotion
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Abstract

Legged locomotion is a challenging regime both for experimental analysis and for robot design. From biology, we know that legged animals can perform spectacular feats which our machines can only surpass on some specially controlled surfaces such as roads. We present a concise review of the theoretical underpinnings of Data Driven Floquet Analysis (DDFA), an approach for empirical modeling of rhythmic dynamical systems. We provide a review of recent and classical results which justify its use in the analysis of legged systems.

BibTeX

@inproceedings{revzen-2015-spie,
  author = {Revzen, Shai and Kvalheim, M},
  title = {Data driven models of legged locomotion},
  booktitle = {Proc SPIE},
  year = {2015},
  volume = {9467},
  pages = {1-8},
  doi = {10.1117/12.2178007},
  entrysubtype = {ReviewedPaper},
  cvtopic = {ddmodel}
}