Using a classic problem from robotics of a vertical hopping machine, we demonstrate an approach for investigating the safety of a hybrid discrete/continuous dynamic system operating in an uncertain environment. The challenges imposed by the environment are expressed in terms of constraints imposed in the phase space of the system as it undergoes periodic motion. The approach is demonstrated first with a hopper that has state feedback to govern the timing of thrust and subsequently for a timer-based hopper. The latter case increases the dimensionality of the problem and must be treated numerically. However, the use of a multiresolution surface representation of the feasible regions in state space reduces the computational burden of the approach.
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January 2009
Research Papers
Safe Control of Hopping in Uneven Terrain
Brian Howley,
Brian Howley
Lockheed Martin Space Systems Company
, Sunnyvale, CA 94089
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Mark Cutkosky
Mark Cutkosky
Stanford University
, Stanford, CA 94305
Search for other works by this author on:
Brian Howley
Lockheed Martin Space Systems Company
, Sunnyvale, CA 94089
Mark Cutkosky
Stanford University
, Stanford, CA 94305J. Dyn. Sys., Meas., Control. Jan 2009, 131(1): 011012 (11 pages)
Published Online: December 8, 2008
Article history
Received:
March 27, 2008
Revised:
July 25, 2008
Published:
December 8, 2008
Citation
Howley, B., and Cutkosky, M. (December 8, 2008). "Safe Control of Hopping in Uneven Terrain." ASME. J. Dyn. Sys., Meas., Control. January 2009; 131(1): 011012. https://doi.org/10.1115/1.3023133
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