A hexapedal robot designed for ground contact force analysis

Y Sun, Shai Revzen

Dynamic Walking, no. 544, 2019

A hexapedal robot designed for ground contact force analysis
PDF link All publications

Abstract

Commonly, legged locomotion is modeled using non-smooth (hybrid) dynamical systems. We have previously shown that many of the forms of non-smoothness that appear in legged systems are rectifiable to the smooth case. Here we will review recent progress in modeling such systems: algorithmic improvements in computing perturbation models of multi-contact problems, extensions of the reconstruction equation from geometric mechanics to the non-smooth case, and extensions of Koopman operator methods to function spaces that contain non-smooth functions.

BibTeX

@conference{sun-2019-dw,
  author = {Sun, Y and Revzen, Shai},
  title = {A hexapedal robot designed for ground contact force analysis},
  booktitle = {Dynamic Walking},
  year = {2019},
  number = {544},
  address = {Canmore AB, CA},
  month = jun,
  organization = {Dynamic Walking},
  url = {https://docs.google.com/document/d/155IGklc5VWjCga3UaZyJ66UeFiV2_94IlAl5AmnqK7Y/view},
}