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A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing

[+] Author Affiliations
Peter Larson, Justin Seipel

Purdue University, West Lafayette, IN

Paper No. DETC2012-71240, pp. 877-883; 7 pages
doi:10.1115/DETC2012-71240
From:
  • 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

abstract

Recent locomotion models have demonstrated the benefits of hip torques on legged locomotion stability. Here, a simple constant radial forcing function along the leg of the Spring-Loaded Inverted Pendulum (SLIP) model is added. This model is analyzed in order to determine what effect such a radial force might have on the stability of locomotion versus the more commonly used hip-torque forcing. The model is found to be unstable for the vast majority of the parameter space studied, for any amount of added forcing and damping constants. This suggests that simple constant forcing along the leg does not produce stable locomotion, unlike the case where forcing happens via hip torque.

Copyright © 2012 by ASME
Topics: Pendulums , Springs

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