DSAC - Dynamic, Single Actuated Climber: Local stability and bifurcations

— This paper investigates a novel mechanism, called DSAC for Dynamic, Single Actuated Climber, which propels itself upwards by oscillating its leg in a symmetric fashion using a single actuator. This mechanism achieves dynamic, vertical motion while retaining simplicity in design and control. We explore the local orbital stability of the DSAC mechanism. We use the Poincar´e map method with a well chosen Poincar´e section to simplify the problem by reducing the dimension of the Poincar´e map to 3-dimensions. We find the stable regions while varying the controls input and some of the mechanism’s parameters. Moreover, in response to a continuous change in a parameter of the mechanism, the symmetric and steady stable gait of the mechanism gradually evolves through a regime of period doubling bifurcations.

• Type: Journal
• Year: 2010
• Where: ICRA
• Authors: Amir Degani, Howie Choset, Matthew T. Mason
• Keywords: ICRA 2010, Local Orbital Stability, Poincar´e Map, Robotics, Steady Stable Gait