Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

Date

2002-01-25

Author

Altendorfer, Richard
Saranlı, Uluç
Komsuoğlu, Haldun
Koditschek, Daniel E
Brown, H Benjamin
Buehler, Martin
Moore, Ned
McMordie, Dave
Full, Robert

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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 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.

Subject Keywords

Artificial Intelligence, System Theory, Invert Pendulum, Hierarchical Control, Step Limit

URI

https://hdl.handle.net/11511/69551

DOI

https://doi.org/10.1007/3-540-45118-8_30

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

R. Altendorfer et al., “Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot,” 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/69551.