Predicting the mean first passage time (MFPT) to reach any state for a passive dynamic walker with steady state variability.
PLoS One
; 13(11): e0207665, 2018.
Article
em En
| MEDLINE
| ID: mdl-30496205
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 speed of RW at the most recent leg collision) to an arbitrary state deemed to be a failure in the future. The frequently used Markov chain based MFPT prediction requires an absorbing state, which in this case is a collision where the RW comes to a stop without an escape. Here, we propose a novel method to estimate an MFPT from current state to an arbitrary state which is not necessarily an absorbing state. This provides freedom to a controller to adaptively take action when deemed necessary. We demonstrate the proposed MFPT predictions in a minimal intervention controller for a RW. Our results show that the proposed method is useful in controllers for walkers showing up to 44.1% increase of time-to-fail compared to a PID based closed-loop controller.
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1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Andadores
/
Modelos Teóricos
Tipo de estudo:
Health_economic_evaluation
/
Prognostic_studies
/
Risk_factors_studies
Idioma:
En
Revista:
PLoS One
Assunto da revista:
CIENCIA
/
MEDICINA
Ano de publicação:
2018
Tipo de documento:
Article
País de afiliação:
Austrália