A Simply Stabilized Running Model

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
legged locomotion
spring-loaded inverted pendulum
periodic gaits
bifurcation
stability
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Ghigliazza, R. M
Altendorfer, Richard
Holmes, Philip
Contributor
Abstract

The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in numerous animal species. Although locomotion is generally considered a complex task requiring sophisticated control strategies to account for coordination and stability, we show that stable gaits can be found in the SLIP with both linear and "air" springs, controlled by a simple fixed-leg reset policy. We first derive touchdown-to-touchdown Poincaré maps under the common assumption of negligible gravitational effects during the stance phase. We subsequently include and assess these effects and briefly consider coupling to pitching motions. We investigate the domains of attraction of symmetric periodic gaits and bifurcations from the branches of stable gaits in terms of nondimensional parameters.

Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
2003-05-08
Journal title
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Reprinted from SIAM Journal on Applied Dynamical Systems, Volume 2, Issue 2, May 8 2004, pages 187-218. Publisher URL: http://dx.doi.org/10.1137/S1111111102408311 NOTE: At the time of publication the author, Daniel Koditschek, was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.
Recommended citation
Collection