Predicting the mean first passage time (MFPT) to reach any state for a passive dynamic walker with steady state variability.

ABSTRACT: Idealized passive dynamic walkers (PDW) exhibit limit cycle stability at steady state. Yet in reality, uncertainty in ground interaction forces result in variability in limit cycles even for a simple walker known as the Rimless Wheel (RW) on seemingly even slopes. This class of walkers is called metastable walkers in that they usually walk in a stable limit cycle, though guaranteed to eventually fail. Thus, control action is only needed if a failure state (i.e. RW stopping down the ramp) is imminent. Therefore, efficiency of estimating the time to reach a failure state is key to develop a minimal intervention controller to inject just enough energy to overcome a failure state when required. Current methods use what is known as a Mean First Passage Time (MFPT) from current state (rotary spe

SUBMITTER: Wijesundera I 

PROVIDER: S-EPMC6264876 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature