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Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

[+] Author Affiliations
Zhuohua Shen, Justin Seipel

Purdue University, West Lafayette, IN

Paper No. DETC2012-70711, pp. 95-104; 10 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


A new class of actuated Spring-Loaded Inverted Pendulum (SLIP) models with hip actuation and leg damping has been developed, and is found to be more stable than the canonical version. However, it is not known how the addition of hip torque and leg damping change locomotion stability. In this paper, we study the effects of leg damping and hip torque on locomotion stability of actuated-SLIP models. All other modeling assumptions of SLIP are conserved. And hip torque is turned off during the flight phase. We show that for a given set of nondimensional SLIP parameters the hip torque and leg damping required for a periodic solution are not independent. Further, we show that adding hip torque and damping changes the dynamics of actuated-SLIP solutions in a non-intuitive way. When a very small amount of torque and damping are added the affect is initially to destabilize SLIP solutions. As torque and damping are added further, it eventually improves the stability properties of solutions.

Copyright © 2012 by ASME
Topics: Torque , Stability , Damping



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