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Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control

[+] Author Affiliations
Dominik Budday

Purdue University, West Lafayette, INKarlsruhe Institute of Technology, Karlsruhe, Germany

Fabian Bauer

Karlsruhe Institute of Technology, Karlsruhe, Germany

Justin Seipel

Purdue University, West Lafayette, IN

Paper No. DETC2012-71154, pp. 859-866; 8 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The SLIP model has shown a way to easily represent the center of mass dynamics of human walking and running. For 2D motions in the sagittal plane, the model shows self-stabilizing effects that can be very useful when designing a humanoid robot. However, this self-stability could not be found in three-dimensional running, but simple control strategies achieved stabilization of running in three dimensions. Yet, 3D walking with SLIP has not been analyzed to the same extent. In this paper we show that three-dimensional humanoid SLIP walking is also unstable, but can be stabilized using the same strategy that has been successful for running. It is shown that this approach leads to the desired periodic solutions. Furthermore, the influence of different parameters on stability and robustness is examined. Using a performance test to simulate the transition from an upright position to periodic walking we show that the stability is robust. With a comparison of common models for humanoid walking and running it is shown that the simple control mechanism is able to achieve stable solutions for all models, providing a very general approach to this problem. The derived results point out preferable parameters to increase robustness promising the possibility of successfully realizing a humanoid walking robot based on 3D SLIP.

Copyright © 2012 by ASME
Topics: Stability , Robustness



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