1 Identification of Running Dynamics Perturbation response reveals control architecture.

1

Identification of Running Dynamics

• Perturbation response reveals control architecture

2

Identification of Running Dynamics

• Careful state estimation enables identification– Rigid body state– Tarsus position, velocity

3

Identification of Running Dynamics

• We are applying Hybrid System Identification techniques under development in Autonomy Center to understand neuromechanical control in animals– Sam Burden, AM3 Task 1.4 (PI: Prof. Shankar Sastry)

• Simple hybrid models enable direct translation of biological principles to improve design and simplify control of running robots