• About
  • Policies
  • What is openaccess
  • Library
  • Contact
Advanced search
      View Item 
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Computer Engineering
      • View Item
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Computer Engineering
      • View Item
      JavaScript is disabled for your browser. Some features of this site may not work without it.

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

      Thumbnail
      View / Download
      391.7 Kb
      Author
      Arslan, Ömür
      Saranlı, Uluç
      Morgül, Ömer
      Date
      2009
      Source Title
      2009 IEEE International Conference on Robotics and Automation
      Print ISSN
      1050-4729
      Publisher
      IEEE
      Pages
      2388 - 2393
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
      141
      views
      144
      downloads
      Abstract
      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 several hopping robot designs. Further research on this model led to the discovery of several analytic approximations to its normally nonintegrable dynamics. However, these approximations mostly focus on steady-state running with symmetric trajectories due to their linearization of gravitational effects, an assumption that is quickly violated for locomotion on more complex terrain wherein transient, non-symmetric trajectories dominate. In this paper, we introduce a novel gravity correction scheme that extends on one of the more recent analytic approximations to the SLIP dynamics and achieves good accuracy even for highly non-symmetric trajectories. Our approach is based on incorporating the total effect of gravity on the angular momentum throughout a single stance phase and allows us to preserve the analytic simplicity of the approximation to support our longer term research on reactive footstep planning for dynamic legged locomotion. We compare the performance of our method in simulation to two other existing analytic approximations and show that it outperforms them for most physically realistic non-symmetric SLIP trajectories while maintaining the same accuracy for symmetric trajectories. © 2009 IEEE.
      Keywords
      Analytic approximation
      Complex terrains
      Correction schemes
      Descriptive Model
      Footstep planning
      Hopping robots
      Legged locomotion
      Nonsymmetric
      Slip dynamics
      Spring loaded inverted pendulums
      Spring mass
      Stance phase
      Total effect
      Animals
      Biped locomotion
      Infrared detectors
      Machine design
      Robotics
      Robots
      Trajectories
      Permalink
      http://hdl.handle.net/11693/28704
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/ROBOT.2009.5152470
      Collections
      • Department of Computer Engineering 1418
      • Department of Electrical and Electronics Engineering 3621
      Show full item record

      Browse

      All of BUIRCommunities & CollectionsTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsThis CollectionTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartments

      My Account

      Login

      Statistics

      View Usage StatisticsView Google Analytics Statistics

      Bilkent University

      If you have trouble accessing this page and need to request an alternate format, contact the site administrator. Phone: (312) 290 1771
      © Bilkent University - Library IT

      Contact Us | Send Feedback | Off-Campus Access | Admin | Privacy