TY - GEN
T1 - The simplest parkour model
T2 - 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
AU - Long, A. W.
AU - Gregg, R. D.
AU - Lynch, K. M.
PY - 2012
Y1 - 2012
N2 - We describe and experimentally validate the Simplest Parkour Model (SPM) for the ParkourBot, a planar dynamic climbing robot equipped with two springy BowLegs. By controlling the leg angles and injected energy at impact, the ParkourBot is capable of climbing up and down in a rigid chute on an inclined air table. The SPM consists of a point mass and two massless legs. The legs are assumed to be infinitely stiff, resulting in an instantaneous stance phase and a closed-form solution of the hybrid dynamics. In this paper, we show that the SPM is a good predictor of the actual experimental behavior. Using the SPM we compute the fixed points, stability and basins of attraction of period-1 limit cycles.
AB - We describe and experimentally validate the Simplest Parkour Model (SPM) for the ParkourBot, a planar dynamic climbing robot equipped with two springy BowLegs. By controlling the leg angles and injected energy at impact, the ParkourBot is capable of climbing up and down in a rigid chute on an inclined air table. The SPM consists of a point mass and two massless legs. The legs are assumed to be infinitely stiff, resulting in an instantaneous stance phase and a closed-form solution of the hybrid dynamics. In this paper, we show that the SPM is a good predictor of the actual experimental behavior. Using the SPM we compute the fixed points, stability and basins of attraction of period-1 limit cycles.
UR - http://www.scopus.com/inward/record.url?scp=84885655620&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885655620&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84885655620
SN - 981437427X
SN - 9789814374279
T3 - Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
SP - 684
EP - 691
BT - Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
Y2 - 6 September 2011 through 8 September 2011
ER -