Experimental validation of a feed-forward predictor for the spring-loaded inverted pendulum template

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dc.citation.epage216en_US
dc.citation.issueNumber1en_US
dc.citation.spage208en_US
dc.citation.volumeNumber31en_US
dc.contributor.authorUyanik, I.en_US
dc.contributor.authorMorgül, O.en_US
dc.contributor.authorSaranli, U.en_US
dc.date.accessioned2015-07-28T12:02:42Z
dc.date.available2015-07-28T12:02:42Z
dc.date.issued2015-02en_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.description.abstractWidely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature to ensure its accuracy and applicability to a physical monopedal platform. To this end, we present systematic experiments on a well-instrumented planar monopod robot, first to perform careful identification of system parameters and subsequently to assess predictor performance. Our results show that the approximate solutions to the spring-loaded inverted pendulum dynamics are capable of predicting physical robot position and velocity trajectories with average prediction errors of 2% and 7%, respectively. This predictive performance together with the simple analytic nature of the approximations shows their suitability as a basis for both state estimators and locomotion controllers. © 2004-2012 IEEE.en_US
dc.description.provenanceMade available in DSpace on 2015-07-28T12:02:42Z (GMT). No. of bitstreams: 1 8304.pdf: 547643 bytes, checksum: 718a618e7e356f853d5a3ceaaf08bd9f (MD5)en
dc.identifier.doi10.1109/TRO.2014.2383531en_US
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/11693/12712
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/TRO.2014.2383531en_US
dc.source.titleIEEE Transactions on Roboticsen_US
dc.subjectCollision Lossesen_US
dc.subjectLegged Locomotionen_US
dc.subjectModel Verificationen_US
dc.subjectMonopedal Robotsen_US
dc.subjectParametric System Identificationen_US
dc.subjectSpring-loaded Inverted Pendulum (slip)en_US
dc.titleExperimental validation of a feed-forward predictor for the spring-loaded inverted pendulum templateen_US
dc.typeArticleen_US

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