The simplest parkour model: Experimental validation and stability analysis

A. W. Long*, R. D. Gregg, Kevin M Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationField Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
Pages684-691
Number of pages8
StatePublished - Dec 1 2012
Event14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011 - Paris, France
Duration: Sep 6 2011Sep 8 2011

Other

Other14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011
CountryFrance
CityParis
Period9/6/119/8/11

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Long, A. W., Gregg, R. D., & Lynch, K. M. (2012). The simplest parkour model: Experimental validation and stability analysis. In Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011 (pp. 684-691)