Dynamic Stability of Open-Loop Hopping

摘要

Simulations and physical robots have shown that hopping and running are possible without sensory feedback. However, stable behavior is often limited to a certain range of the parameters of the open-loop system. Even the simplest of hopping systems can exhibit unstable behavior that results in unpredictable nonperiodic motion as system parameters are adjusted. This paper analyzes the stability of a simplified vertical hopping model driven by an open-loop, feedforward motor pattern. Periodic orbits of the resulting hybrid system are analyzed through a generalized formula for the system’s Poincare Map and Jacobian. The observed behavior is validated experimentally in a physical pneumatically actuated hopping machine. This approach leads to observations on the stability of this and similar systems, revealing inherent limitations of open-loop hopping and providing insights that can inform the design and control of dynamic legged robots capable of rapid and robust locomotion.