1 Identification of Running Dynamics Perturbation response reveals control architecture.

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Presentation transcript:

1 Identification of Running Dynamics Perturbation response reveals control architecture

2 Identification of Running Dynamics Careful state estimation enables identification – Rigid body state – Tarsus position, velocity

3 Identification of Running Dynamics We are applying Hybrid System Identification techniques under development in Autonomy Center to understand neuromechanical control in animals – Sam Burden, AM3 Task 1.4 (PI: Prof. Shankar Sastry) Simple hybrid models enable direct translation of biological principles to improve design and simplify control of running robots