Control modes for a three-dimensional galloping machine

Waldron, KJ; Kallem, V

Control modes for a three-dimensional galloping machine

Waldron, KJ

Kallem, V

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the ASME Design Engineering Technical Conference, 2004, 2 B pp. 1525 - 1533
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.author	Kallem, V	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	Proceedings of the ASME Design Engineering Technical Conference, 2004, 2 B pp. 1525 - 1533	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12009
dc.description.abstract	A set of relationships are developed to estimate the effects of control inputs on different axes of a galloping machine. It is demonstrated that control must be approached on a stride cycle basis to avoid serious cross-coupling between degrees of freedom. It is also demonstrated that a somewhat different approach to the Raibert controller is necessary for galloping. The relationships developed are primarily useful to estimate sensitivities to different control approaches, and thereby develop useful design information. Their use is illustrated by calculating sensitivities for our KOLT galloping vehicle.	en_US
dc.relation.ispartof	Proceedings of the ASME Design Engineering Technical Conference	en_US
dc.title	Control modes for a three-dimensional galloping machine	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2 B	en_US
utslib.for	091399 Mechanical Engineering not elsewhere classified	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	091302 Automation and Control Engineering	en_US
dc.location.activity	Salt Lake City, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	2 B	en_US

Abstract:

A set of relationships are developed to estimate the effects of control inputs on different axes of a galloping machine. It is demonstrated that control must be approached on a stride cycle basis to avoid serious cross-coupling between degrees of freedom. It is also demonstrated that a somewhat different approach to the Raibert controller is necessary for galloping. The relationships developed are primarily useful to estimate sensitivities to different control approaches, and thereby develop useful design information. Their use is illustrated by calculating sensitivities for our KOLT galloping vehicle.

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http://hdl.handle.net/10453/12009