
Departmental Papers (ESE)
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 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
2001
Date Posted: 21 February 2014
This document has been peer reviewed.
Comments
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.