1 Identification of Running Dynamics Perturbation response reveals control architecture.
3
1 Identification of Running Dynamics • Perturbation response reveals control architecture
-
date post
19-Dec-2015 -
Category
Documents
-
view
214 -
download
0
Transcript of 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
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