State Space Structure and Global Stability of Hof Inverted Pendulum Walking Models
Open Access
Author:
Corvino, William
Area of Honors:
Engineering Science
Degree:
Bachelor of Science
Document Type:
Thesis
Thesis Supervisors:
Joseph Paul Cusumano, Thesis Supervisor Joseph Paul Cusumano, Thesis Honors Advisor Lucas Jay Passmore, Faculty Reader
Keywords:
Inverted Pendulum Gait Stability State Space
Abstract:
This thesis focuses primarily on understanding the structure of Hof inverted pendulum walking models, analyzing both the state space structure and the stability properties. We assert that walking models require mechanics, a controller, and constraints; and without all three, the model is not complete. Under this premise, we generate the concept of recovery basins, derived from viability/global stability of these complete models. In generating these basins, we recover a potential reason for a stability strategy called basin-shifting: changing walking parameters or controllers to keep one's center of mass state within the recovery/viability basin.
