Departmental Papers (ESE)


We empirically investigate the implications of applying Raibert’s Scissor algorithm to the Spring Loaded Inverted Pendulum (SLIP) model in combination with other controllers to achieve transitional maneuvers. Specifically, we are interested in how the conjectured neutral stability of Raibert’s algorithm allows combined controllers to push the system’s operating point around the state space without needing to expend limited control affordance in overcoming its stability or compensating for its instability. We demonstrate 2 cases where this facilitates the construction of interesting transitional controllers on a physical robot. In the first we use the motors in stance to maximize the rate of change of the body energy; in the second we take advantage of the local environmental energy landscape to push the robot’s operating point to a higher or lower energy level without expending valuable motor affordance. We present data bearing on the energetic performance of these approaches in executing an accelerate-and-leap maneuver on a monopedal hopping robot affixed to a boom in comparison to the cost of anchoring the robot to the SLIP template.

For more information: Kod*lab

Sponsor Acknowledgements

This work is supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE-0822 and by the Army Research Laboratory under Cooperative Agreement Number W911NF-10–2−0016.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

2015 IEEE International Conference on Robotics and Biomimetics


Agility, legged robot

Bib Tex

@inproceedings{jdup_robio15, author = {Duperret, Jeffrey and Koditschek, D. E.}, title = {An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm}, booktitle = {IEEE International Conference on Robotics and Biomimetics}, month = {December}, year = {2015}, location = {Zhuhai, China}, }



Date Posted: 03 May 2016

This document has been peer reviewed.