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• W1569444793 abstract "Many tasks in robotics and automation require a cyclic exchange of energy between a machine and its environment. Since most environments are actuated—that is, there are more objects to be manipulated than actuated degrees of freedom with which to manipulate them—the exchange must be punctuated by intermittent repeated contacts. In this paper, we develop the appropriate theoretical setting for framing these problems and propose a general method for regulating coupled cyclic systems. We prove for the first time the local stability of a (slight variant on a) phase regulation strategy that we have been using with empirical success in the lab for more than a decade. We apply these methods to three examples: juggling two balls, two legged synchronized hopping and two legged running—considering for the first time the analogies between juggling and running formally. Comments Reprinted from Algorithmic and Computational Robotics: New Directions 2000 WAFR, edited by Bruce Donald, Kevin Lynch, and Daniela Rus (Wellesley: A.K. Peters, 2001), pages 205-220. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania. This book chapter is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/430 Toward the Regulation and Composition of Cyclic Behaviors E Klavins EECS Department University of Michigan Ann Arbor MI USA D E Koditschek EECS Department University of Michigan Ann Arbor MI USA R Ghrist School of Mathematics Georgia Institute of Technology Atlanta GA USA Many tasks in robotics and automation require a cyclic exchange of energy between a machine and its envi ronment Since most environments are under actu ated that is there are more objects to be manip ulated than actuated degrees of freedom with which to manipulate them the exchange must be punctuated by intermittent repeated contacts In this paper we develop the appropriate theoretical setting for framing these problems and propose a general method for reg ulating coupled cyclic systems We prove for the rst time the local stability of a slight variant on a phase regulation strategy that we have been using with em pirical success in the lab for more than a decade We apply these methods to three examples juggling two balls two legged synchronized hopping and two legged running considering for the rst time the analogies between juggling and running formally" @default.
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• W1569444793 date "2001-01-01" @default.
• W1569444793 modified "2023-09-26" @default.
• W1569444793 title "Toward the Regulation and Composition of Cyclic Behaviors" @default.
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