TY - GEN
T1 - Toward data-driven models of legged locomotion using harmonic transfer functions
AU - Uyanik, Ismail
AU - Ankarali, M. Mert
AU - Cowan, Noah J.
AU - Morgül, Ömer
AU - Saranli, Uluç
N1 - Funding Information:
This material is based on work supported by the National Science Foundation (NSF) Grants 0845749 and 1230493 (to N. J. Cowan). This work is supported by The Scientific and Technological Research Council of Turkey (TÜBITAK), through project 114E277 (to UluÇ Saranlı). The authors thank ASELSAN Inc. and TÜBITAK for Ismail Uyanık’s financial support.
Publisher Copyright:
© 2015 IEEE.
PY - 2015/10/13
Y1 - 2015/10/13
N2 - There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviours such as running involve non-integrable dynamics, requiring the use of possibly inaccurate approximations in the design of model-based controllers. In this study, we show how data-driven frequency domain system identification methods can be used to obtain input-output characteristics for a class of dynamical systems around their limit cycles, with hybrid structural properties similar to those observed in legged locomotion systems. Under certain assumptions, we can approximate hybrid dynamics of such systems around their limit cycle as a piecewise smooth linear time periodic system (LTP), further approximated as a time-periodic, piecewise LTI system to reduce parametric degrees of freedom in the identification process. In this paper, we use a simple one-dimensional hybrid model in which a limit-cycle is induced through the actions of a linear actuator to illustrate the details of our method. We first derive theoretical harmonic transfer functions (HTFs) of our example model. We then excite the model with small chirp signals to introduce perturbations around its limit-cycle and present systematic identification results to estimate the HTFs for this model. Comparison between the data-driven HTFs model and its theoretical prediction illustrates the potential effectiveness of such empirical identification methods in legged locomotion.
AB - There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviours such as running involve non-integrable dynamics, requiring the use of possibly inaccurate approximations in the design of model-based controllers. In this study, we show how data-driven frequency domain system identification methods can be used to obtain input-output characteristics for a class of dynamical systems around their limit cycles, with hybrid structural properties similar to those observed in legged locomotion systems. Under certain assumptions, we can approximate hybrid dynamics of such systems around their limit cycle as a piecewise smooth linear time periodic system (LTP), further approximated as a time-periodic, piecewise LTI system to reduce parametric degrees of freedom in the identification process. In this paper, we use a simple one-dimensional hybrid model in which a limit-cycle is induced through the actions of a linear actuator to illustrate the details of our method. We first derive theoretical harmonic transfer functions (HTFs) of our example model. We then excite the model with small chirp signals to introduce perturbations around its limit-cycle and present systematic identification results to estimate the HTFs for this model. Comparison between the data-driven HTFs model and its theoretical prediction illustrates the potential effectiveness of such empirical identification methods in legged locomotion.
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U2 - 10.1109/ICAR.2015.7251480
DO - 10.1109/ICAR.2015.7251480
M3 - Conference contribution
AN - SCOPUS:84957636297
T3 - Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
SP - 357
EP - 362
BT - Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
A2 - Saranli, Uluc
A2 - Kalkan, Sinan
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th International Conference on Advanced Robotics, ICAR 2015
Y2 - 27 July 2015 through 31 July 2015
ER -