Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics

Floquet theory describes the linearization of an oscillator around its orbit. We convert this familiar classical result to an empirical form, allowing Floquet models to be constructed directly from experimentally obtained trajectories of periodic gaits. The Floquet model can be used to derive dimensionally reduced "templates" that predict responses to transient stimuli and be used as maneuvers through transient destabilization. The ability to express maneuvers in these reduced models holds promise for robot design and tuning, and for biomechanical research. We report on ongoing work applying our methods to human and cockroach data, and illustrate their use on some gaits of the Clock-Torqued Spring Loaded Inverted Pendulum (CT-SLIP) model.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated over 7 years ago

Created
August 05, 2010 13:54
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
5119 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Manoj Srinivasan. Observations on the Structure of Optimal Gaits on Various Simple Bipedal Models

Dynamic Walking 2010. Manoj Sriniva...

Added over 7 years ago | 00:29:36 | 5313 views

Dynamic Walking 2010. Rodger Kram. Passive Elastic Running Prostheses; Very Good, But Not Yet Better.

Dynamic Walking 2010. Rodger Kram. ...

Added over 7 years ago | 00:37:55 | 3962 views

Dynamic Walking 2010. Roland Siegwart. Exploitation of Natural Dynamics in Quadrupedal Locomotion

Dynamic Walking 2010. Roland Siegwa...

Added over 7 years ago | 00:28:59 | 4917 views

Dynamic Walking 2010. Michael Goldfarb. Implicit Control of a Powered Knee and Ankle Prosthesis.

Dynamic Walking 2010. Michael Goldf...

Added over 7 years ago | 00:28:29 | 4122 views

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added over 7 years ago | 00:44:10 | 3799 views

Dynamic Walking 2010. Andy Ruina. Cats, astronauts, trucks, bikes, arrows, and muscle-smarts: Stability, translation, and rotation

Dynamic Walking 2010. Andy Ruina. C...

Added over 7 years ago | 00:49:47 | 6005 views