Show simple item record

dc.contributor.authorArslan Ö.en_US
dc.contributor.authorSaranli, U.en_US
dc.contributor.authorMorgül Ö.en_US
dc.date.accessioned2016-02-08T12:27:35Z
dc.date.available2016-02-08T12:27:35Z
dc.date.issued2009en_US
dc.identifier.issn10504729
dc.identifier.urihttp://hdl.handle.net/11693/28704
dc.description.abstractThe 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.en_US
dc.language.isoEnglishen_US
dc.source.titleProceedings - IEEE International Conference on Robotics and Automationen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ROBOT.2009.5152470en_US
dc.subjectAnalytic approximationen_US
dc.subjectComplex terrainsen_US
dc.subjectCorrection schemesen_US
dc.subjectDescriptive Modelen_US
dc.subjectFootstep planningen_US
dc.subjectHopping robotsen_US
dc.subjectLegged locomotionen_US
dc.subjectNonsymmetricen_US
dc.subjectSlip dynamicsen_US
dc.subjectSpring loaded inverted pendulumsen_US
dc.subjectSpring massen_US
dc.subjectStance phaseen_US
dc.subjectTotal effecten_US
dc.subjectAnimalsen_US
dc.subjectBiped locomotionen_US
dc.subjectInfrared detectorsen_US
dc.subjectMachine designen_US
dc.subjectRoboticsen_US
dc.subjectRobotsen_US
dc.subjectTrajectoriesen_US
dc.titleAn approximate stance map of the spring mass hopper with gravity correction for nonsymmetric locomotionsen_US
dc.typeConference Paperen_US
dc.departmentDepartment of Computer Engineering
dc.departmentDepartment of Electrical and Electronics Engineering
dc.citation.spage2388en_US
dc.citation.epage2393en_US
dc.identifier.doi10.1109/ROBOT.2009.5152470en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record