Browsing by Keywords "Legged locomotion"
Now showing items 1-10 of 10
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An analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with damping
(World Scientific, 2009-09)The Spring-Loaded Inverted Pendulum (SLIP) model has been established both as a very accurate descriptive tool as well as a good basis for the design and control of running robots. In particular, approximate analytic ... -
Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping
(Springer Netherlands, 2010)This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajectories. ... -
An approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotions
(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 ... -
Identification of a vertical hopping robot model via harmonic transfer functions
(Sage Publications Ltd., 2016)A common approach to understanding and controlling robotic legged locomotion is the construction and analysis of simplified mathematical models that capture essential features of locomotor behaviours. However, the ... -
Identification of legged locomotion via model-based and data-driven approaches
(Bilkent University, 2017-05)Robotics is one of the core areas where the bioinspiration is frequently used to design various engineered morphologies and to develop novel behavioral controllers comparable to the humans and animals. Biopinspiration ... -
Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions
(IFAC, 2015-06)System identification of rhythmic locomotor systems is challenging due to the time-varying nature of their dynamics. Even though important aspects of these systems can be captured via explicit mechanics-based models, it ... -
Model-based identification and control of a one-legged hopping robot
(Bilkent University, 2018-01)Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal ... -
Neural network based estimator and controller for SLIP and TD-SLIP monopod robots
(Bilkent University, 2020-12)Using spring loaded inverted pendulum models for legged locomotion, a wide range of applications can be developed for mobile robots. Spring loaded inverted pendulum model brings new challenges of solving the forward and ... -
A new footstep planning for SLIP and TD-SLIP models
(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 ... -
On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization
(Springer Netherlands, 2017)Spring-loaded inverted pendulum (SLIP) template (and its various derivatives) could be considered as the mostly used and widely accepted models for describing legged locomotion. Despite their simple nature, as being a ...
