Control Modes for a Three-Dimensional Galloping Machine

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Conference Proceeding
Proceedings of DETC 2004: the 28th Biennial Mechanisms and Robotics Conference, 2004, 2 pp. 1525 - 1533
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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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