Browsing by Keywords "Biped locomotion"

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An approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotions

Arslan, Ömür; Saranlı, Uluç; Morgül, Ömer (IEEE, 2009)

The Spring-Loaded Inverted Pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for ...
Control of underactuated planar pronking through an embedded spring-mass Hopper template

Ankaralı, M.M.; Saranlı, U. (2011)

Autonomous use of legged robots in unstructured, outdoor settings requires dynamically dexterous behaviors to achieve sufficient speed and agility without overly complex and fragile mechanics and actuation. Among such ...