Now showing items 1-4 of 4

    • 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 ...
    • A new footstep planning for SLIP and TD-SLIP models 

      İslamoğlu, Serkan (Bilkent University, 2020-12)
      Spring Loaded Inverted Pendulum (SLIP) is a well-known model and an accurate descriptive tool, which can scientifically represent the dynamics of the legged locomotion. Torque actuated Dissipative SLIP (TD-SLIP), on the ...
    • Reactive footstep planning for a planar spring mass hopper 

      Arslan, Ömür; Saranlı, Uluç; Morgül, Ömer (IEEE, 2009-10)
      The main driving force behind research on legged robots has always been their potential for high performance locomotion on rough terrain and the outdoors. Nevertheless, most existing control algorithms for such robots ...
    • Reactive planning and control of planar spring-mass running on rough terrain 

      Arslan, Ö.; Saranlı, U. (Institute of Electrical and Electronics Engineers, 2012)
      An important motivation for work on legged robots has always been their potential for high-performance locomotion on rough terrain. Nevertheless, most existing control algorithms for such robots either make rigid assumptions ...