Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
Conference Paper, Proceedings of 7th International Symposium on Experimental Robotics (ISER '00), pp. 291 - 302, December, 2000
Abstract
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 tra jectories 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.
BibTeX
@conference{Altendorfer-2000-16822,author = {R. Altendorfer and Uluc Saranli and H. Komsuoglu and D. E. Koditschek and H. Benjamin Brown and Martin Buehler and N. Moore and D. McMordie and R. Full},
title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot},
booktitle = {Proceedings of 7th International Symposium on Experimental Robotics (ISER '00)},
year = {2000},
month = {December},
editor = {D. Rus and S. Singh},
pages = {291 - 302},
publisher = {Springer-Verlag},
}
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