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Spring-Mass Jumping of Underactuated Biped Robots

[+] Author Affiliations
Seyed Hossein Tamaddoni, Aria Alasty, Ali Meghdari, Saeed Sohrabpour, Hassan Salarieh

Sharif University of Technology, Tehran, Iran

Paper No. DETC2007-35003, pp. 1923-1930; 8 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


In many types of fast animal and human locomotion an almost sinusoidal pattern is observed for the ground reaction force; therefore, a simple spring-mass model can approximate the generally observed force pattern. The adjustment of the leg during running, jumping or hopping is addressed using a spring-mass model with a fixed landing angle of attack with the objective of obtaining periodic movement patterns. We found that this self-stabilizing spring-mass model can be applied as a movement criterion for biped joints’ trajectory generation in jumping. To create desired velocity and stride-to-stride length, a synchronization method was applied between biped nonlinear dynamics and spring-mass dynamics as slave and master dynamics, respectively. The results of performed simulations show that while our model lacks the flight phase and impact model for a complete cycle of jumping process, this technique might become of great use in the future’s biped path planning which we call it “dynamic path planning”.

Copyright © 2007 by ASME
Topics: Robots , Springs



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