Dynamic single actuator robot climbing a chute

The planar mechanism analyzed in this paper, called DSAC for Dynamic, Single Actuated Climber, comprises only two links connected by a single oscillating actuator. This simple open loop motion propels the robot stably between two vertical walls. We explore the local orbital stability of the DSAC mechanism. Using the Poincare map, we reduce the analyzed dimension and find the stable regions while varying the control inputs and mechanism's parameters. Moreover, in response to a continuous change of a parameter of the mechanism, the symmetric and steady stable gait of the mechanism gradually evolves through a regime of period doubling bifurcations. This investigation includes numerical approximation of the local stability, and basin of attraction. Finally, the paper reports experimental results of open-loop, stable climbing in a planar, reduced gravity environment undergoing bifurcations which correlate well to the numerical analysis.