Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Model-Based Identification and Control of a One-Legged Hopping Robot   Spring-mass models are well established tools for the analysis and control of
legged locomotion. Among the alternatives, spring-loaded inverted pendulum
(SLIP) model has shown to be a very accurate descriptor of animal locomotion.
Despite its wide use, the SLIP model includes non-integrable stance dynamics
that prevent analytical solutions for its equations of motion. Fortunately,
there are approximate analytical solutions for different SLIP variants.
However, the practicality of such approximations are mostly tested on
simulation studies with a few notable exceptions.
  This thesis extends upon a recent approximation to a hip torque actuated
dissipative SLIP (TD-SLIP) model that uses torque actuation to compensate for
energy losses. Systematic experiments for careful assessment of the predictive
performance of the approximate analytical solution is presented on a
well-instrumented one-legged hopping robot which is revised to enhance
compatibility and accuracy of the system. Electronic structure of the robot is
modified according to TD-SLIP model such that robot uses a real-time operating
system to increase processing speed. Using the parameters and results generated
by the predictive performance of the approximate analytical solution, a
model-based controller is designed and implemented on the robot platform to
generate a stable closed-loop running behaviour on the one legged hoping robot
platform. In addition, ground reaction forces during the stance phase on the
experimental platform is investigated and compared with the human running and
the traditional SLIP model data to understand if torque-actuated models
approximate natural locomotion better than traditional model.

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The categories of this paper are: patt-sol
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: stat
10
The categories of this paper are: q-bio
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The categories of this paper are: comp-gas
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The categories of this paper are: q-alg
2
The categories of this paper are: math
0
The categories of this paper are: hep-ph
3
The categories of this paper are: physics
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The categories of this paper are: bayes-an
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The categories of this paper are: supr-con
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The categories of this paper are: chem-ph
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The categories of this paper are: funct-an
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The categories of this paper are: alg-geom