Compass Gait. Kinematics Hybrid Dynamics Continuous + Discrete Impact 4 variables.

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Presentation transcript:

Compass Gait

Kinematics Hybrid Dynamics Continuous + Discrete Impact 4 variables

Must Simulate every point to get a “step-to-step” return map

Dynamic equations Single support ( Ѳ=[ Ѳns Ѳs ]’ ) M: inertia matrix N: centrifugal coefficients matrix S: torque selection matrix

Transition (assume instantaneous*) Angular momentum conserved

Stability Limit Cycle … stable => shrink to the same trajectory

Phase Portrait

Orbital Stability Limit Cycle stability Poincare Section eigen values stable