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dc.contributor.authorSaranlı U.en_US
dc.contributor.authorArslan, Ö.en_US
dc.contributor.authorAnkaralı, M. M.en_US
dc.contributor.authorMorgül, Ö.en_US
dc.date.accessioned2016-02-08T09:55:32Z
dc.date.available2016-02-08T09:55:32Z
dc.date.issued2010en_US
dc.identifier.issn0924-090X
dc.identifier.urihttp://hdl.handle.net/11693/22100
dc.description.abstractThis 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. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its careful analysis is instrumental in the design of successful locomotion controllers. Unfortunately, none of the existing analytic methods in the literature explicitly take damping into account, resulting in degraded predictive accuracy when they are used for dissipative runners. We show that the methods we propose not only yield average predictive errors below 2% in the presence of significant damping, but also outperform existing alternatives to approximate the trajectories of a lossless model. Finally, we exploit both the predictive performance and analytic simplicity of our approximations in the design of a gait-level running controller, demonstrating their practical utility and performance benefits. © 2010 Springer Science+Business Media B.V.en_US
dc.language.isoEnglishen_US
dc.source.titleNonlinear Dynamics: an international journal of nonlinear dynamics and chaos in engineering systemsen_US
dc.relation.isversionofhttp://dx.doi.org/10.1007/s11071-010-9757-8en_US
dc.subjectAnalytic approximationsen_US
dc.subjectDampingen_US
dc.subjectGait controlen_US
dc.subjectHybrid dynamical systemsen_US
dc.subjectLegged locomotionen_US
dc.subjectSpring-loaded inverted pendulumen_US
dc.subjectAnalytic approximationen_US
dc.subjectControllersen_US
dc.subjectDynamical systemsen_US
dc.subjectPendulumsen_US
dc.subjectPosition controlen_US
dc.subjectTrajectoriesen_US
dc.subjectDampingen_US
dc.titleApproximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with dampingen_US
dc.typeArticleen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.departmentDepartment of Computer Engineeringen_US
dc.citation.spage729en_US
dc.citation.epage742en_US
dc.citation.volumeNumber62en_US
dc.citation.issueNumber4en_US
dc.identifier.doi10.1007/s11071-010-9757-8en_US
dc.publisherSpringer Netherlandsen_US


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