Departmental Papers (ESE)


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.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



BibTeX entry

@inproceedings{Altendorfer-Saranli-Komsuoglu.ISER2000, author = {Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek, D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie, D. and Full, R.}, title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot}, booktitle = {Proceedings on International Symposium on Experimental Robotics}, year = {2000} }

This work is supported by DARPA/SPAWAR under contract N66001-00-C-8026.
We thank Rodger Kram and Claire Farley for the use of the force plateform and
Irv Scher for collaboration at an early stage of this project.



Date Posted: 21 February 2014

This document has been peer reviewed.