Safe control of hopping in uneven terrain / Brian Howley in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N°1 (Janvier/Février 2009)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°1 (Janvier/Février 2009) . - 11 p. Titre : Safe control of hopping in uneven terrain Type de document : texte imprimé Auteurs : Brian Howley, Auteur ; Mark Cutkosky, Auteur Année de publication : 2009 Article en page(s) : 11 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : dynamics (mechanics)  force  machinery  stairs  motion  safety  robots  thrust  algorithms  damping  dynamic systems  robotics  compression  feedback  springs  steady state  stiffness Résumé : Using a classic problem from robotics of a vertical hopping machine, we demonstrate an approach for investigating the safety of a hybrid discrete/continuous dynamic system operating in an uncertain environment. The challenges imposed by the environment are expressed in terms of constraints imposed in the phase space of the system as it undergoes periodic motion. The approach is demonstrated first with a hopper that has state feedback to govern the timing of thrust and subsequently for a timer-based hopper. The latter case increases the dimensionality of the problem and must be treated numerically. However, the use of a multiresolution surface representation of the feasible regions in state space reduces the computational burden of the approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&issueid=2 [...] [article] Safe control of hopping in uneven terrain [texte imprimé] / Brian Howley, Auteur ; Mark Cutkosky, Auteur . - 2009 . - 11 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°1 (Janvier/Février 2009) . - 11 p. Mots-clés : dynamics (mechanics)  force  machinery  stairs  motion  safety  robots  thrust  algorithms  damping  dynamic systems  robotics  compression  feedback  springs  steady state  stiffness Résumé : Using a classic problem from robotics of a vertical hopping machine, we demonstrate an approach for investigating the safety of a hybrid discrete/continuous dynamic system operating in an uncertain environment. The challenges imposed by the environment are expressed in terms of constraints imposed in the phase space of the system as it undergoes periodic motion. The approach is demonstrated first with a hopper that has state feedback to govern the timing of thrust and subsequently for a timer-based hopper. The latter case increases the dimensionality of the problem and must be treated numerically. However, the use of a multiresolution surface representation of the feasible regions in state space reduces the computational burden of the approach. DEWEY : 629.8 ISSN : 0022-0434 En ligne : dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&issueid=2 [...]

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