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Control Modes for a Three-Dimensional Galloping Machine

[+] Author Affiliations
Kenneth J. Waldron, Vinutha Kallem

Stanford University, Stanford, CA

Paper No. DETC2004-57587, pp. 1525-1533; 9 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


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.

Copyright © 2004 by ASME
Topics: Machinery



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