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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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Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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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.
Analysis and control of a body-attached spring-mass runner based on central pivot point approach
Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01)
© 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is composed of single point mass attached to the ground (during stance phase) via an ideal lossless spring. Many researchers introduced various extensions to this fundamental model, such as damping torque actuation, to handle critical physical phenomena that are unavoidable in real systems. ...
An Analytical Solution to the Stance Dynamics of Passive Spring-Loaded Inverted Pendulum with Damping
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The Spring-Loaded Inverted Pendulum (SLIP) model has been established both as a very accurate descriptive tool as well as a good basis for the design and control of running robots. In particular, approximate analytic solutions to the otherwise nonintegrable dynamics of this model provide principled ways in which gait controllers can be built, yielding invaluable insight into their stability properties. However, most existing work on the SLIP model completely disregards the effects of damping, which often ca...
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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.