Share Email Print
cover

Proceedings Paper

Data driven models of legged locomotion
Author(s): Shai Revzen; Matthew Kvalheim
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper Abstract

Legged locomotion is a challenging regime both for experimental analysis and for robot design. From biology, we know that legged animals can perform spectacular feats which our machines can only surpass on some specially controlled surfaces such as roads. We present a concise review of the theoretical underpinnings of Data Driven Floquet Analysis (DDFA), an approach for empirical modeling of rhythmic dynamical systems. We provide a review of recent and classical results which justify its use in the analysis of legged systems.

Paper Details

Date Published: 22 May 2015
PDF: 8 pages
Proc. SPIE 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII, 94671V (22 May 2015); doi: 10.1117/12.2178007
Show Author Affiliations
Shai Revzen, Univ. of Michigan, Ann Arbor (United States)
Matthew Kvalheim, Univ. of Michigan, Ann Arbor (United States)


Published in SPIE Proceedings Vol. 9467:
Micro- and Nanotechnology Sensors, Systems, and Applications VII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

© SPIE. Terms of Use
Back to Top