Evidence for spring loaded inverted pendulum running in a hexapod robot

Date

2001-01-01

Author

ALTENDORFER, R
Saranlı, Uluç
KOMSUOGLU, H
KODITSCHEK, D
BROWN, HB
BUEHLER, M
MOORE, N
MCMORDIE, D
FULL, R

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This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be "anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories axe fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The "anchoring" of SLIP dynamics in RHex offers exciting possibilities for hierarchical control of hexapod robots.

Subject Keywords

Mechanical models, Insect locomotion, Horizontal plane, Stability, Dynamics

URI

https://hdl.handle.net/11511/54505

Journal

EXPERIMENTAL ROBOTICS VII

Collections

Department of Computer Engineering, Article

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Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot Altendorfer, Richard; Saranlı, Uluç; Komsuoğlu, Haldun; Koditschek, Daniel E; Brown, H Benjamin; Buehler, Martin; Moore, Ned; McMordie, Dave; Full, Robert (2002-01-25) This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be “anchored” in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories are fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The “anchoring” of SLIP dynamics in RHex offers exciting possibilities for hierarchical control of hexapod robots.
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Citation Formats

R. ALTENDORFER et al., “Evidence for spring loaded inverted pendulum running in a hexapod robot,” EXPERIMENTAL ROBOTICS VII, pp. 291–302, 2001, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54505.