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1 Identification of Running Dynamics • Perturbation response reveals control architecture

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Page 1: 1 Identification of Running Dynamics Perturbation response reveals control architecture

1

Identification of Running Dynamics

• Perturbation response reveals control architecture

Page 2: 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

Page 3: 1 Identification of Running Dynamics Perturbation response reveals control architecture

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


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