Browsing by Keywords "Spring mass"

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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 ...
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 ...