DSAC – Dynamic, Single Actuated Climber: Local Stability and Bifurcations
Abstract
This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a single actuator. This mechanism achieves dynamic, vertical motion while retaining simplicity in design and control. We explore the local orbital stability of the DSAC mechanism. We use the Poincar´e map method with a well chosen Poincar´e section to simplify the problem by reducing the dimension of the Poincar´e map to 3-dimensions. We find the stable regions while varying the controls input and some of the mechanism’s parameters. Moreover, in response to a continuous change in a parameter of the mechanism, the symmetric and steady stable gait of the mechanism gradually evolves through a regime of period doubling bifurcations.
BibTeX
@conference{Degani-2010-10448,author = {Amir Degani and Howie Choset and Matthew T. Mason},
title = {DSAC - Dynamic, Single Actuated Climber: Local Stability and Bifurcations},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2010},
month = {May},
pages = {2803 - 2809},
keywords = {Dynamic Climbing, Locomotion, Bifurcation, Local Stability, open loop},
}