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A Self-Exciting Controller for High-Speed Vertical Running

机译:用于高速垂直运行的自励控制器

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摘要

Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this “self-exciting” controller does indeed generate an “almost” globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second.For more information: Kod*Lab
机译:传统的有腿跑步者和登山者严重依赖以内部时钟或参考轨迹形式出现的步态发生器。相反,在这里,我们使用快速,动态,垂直的壁挂式机器人进行物理实验,并为生成控制器的控制器提供了稳定性证明,而无需额外的内部时钟或参考信号。具体而言,我们证明了这种“自激”控制器确实确实产生了“几乎”全局渐近稳定的极限环:吸引子盆在拓扑上尽可能大,并且包括除内部空间为空的集合以外的所有状态空间。我们提供了将攀爬行为与更常规的时钟生成步态轨迹跟踪器所实现的攀爬行为进行的经验比较。新型的自激式步态发生器在垂直爬升速度方面有显着提高,实际上通过达到每秒1.5体长的垂直速度树立了动态爬升的新基准。更多信息:Kod * Lab

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