@inproceedings{114511f15f5c4379a7f59a29be2439ba,

title = "On the periodic motions of simple hopping robots",

abstract = "Discrete dynamical systems theory is applied to the analysis of simplified hopping robot models. A one-dimensional vertical hopping model that captures both the vertical hopping dynamics and nonlinear control algorithm is reviewed. A more complicated two-dimensional model that includes both forward and vertical hopping dynamics and a foot placement algorithm is presented. These systems are analyzed using a Poincare return map and hopping behavior is investigated by constructing the return map bifurcation diagrams with respect to system parameters. The diagrams show period doubling leading to chaotic behavior. Using the vertical model results as a guide, dynamic behavior of the planar hopping system is interpreted.",

author = "M'Closkey, {R. T.} and Burdick, {J. W.} and Vakakis, {A. F.}",

year = "1990",

month = nov,

day = "1",

language = "English (US)",

isbn = "0879425970",

series = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

publisher = "Publ by IEEE",

pages = "771--777",

booktitle = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

note = "1990 IEEE International Conference on Systems, Man, and Cybernetics ; Conference date: 04-11-1990 Through 07-11-1990",

}