An analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with damping

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dc.citation.epage700en_US
dc.citation.spage693en_US
dc.contributor.authorAnkaralı, M. M.en_US
dc.contributor.authorArslan, Ömüren_US
dc.contributor.authorSaranlı, Uluçen_US
dc.coverage.spatialİstanbul, Türkiye
dc.date.accessioned2016-02-08T12:21:18Z
dc.date.available2016-02-08T12:21:18Z
dc.date.issued2009-09en_US
dc.departmentDepartment of Computer Engineeringen_US
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionConference name: 12th International Conference on Climbing and Walking Robots the Support Technologies for Mobile Machines (CLAWAR)
dc.descriptionDate of Conference: 9 - 11 Sep. 2009
dc.description.abstractThe Spring-Loaded Inverted Pendulum (SLIP) model has been established both as a very accurate descriptive tool as well as a good basis for the design and control of running robots. In particular, approximate analytic solutions to the otherwise non integrable dynamics of t his model provide principled ways in which gait controllers can be built, yielding invaluable insight into their stability properties. However, most existing work on the SLIP model completely disregards the effects of damping, which often cannot be neglected for physical robot platforms. In this paper, we introduce a new approximate analytical solution to the dynamics of this system that also takes into account viscous damping in the leg. We compare both the predictive performance of our approximation as well as the tracking performance of an associated deadbeat gait controller to similar existing methods in the literature and show t hat it significantly outperforms them in the presence of damping in the leg.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T12:21:18Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 2010en
dc.identifier.doi10.1142/9789814291279_0085
dc.identifier.urihttp://hdl.handle.net/11693/28461
dc.language.isoEnglishen_US
dc.publisherWorld Scientific
dc.relation.isversionofhttps://doi.org/10.1142/9789814291279_0085
dc.source.titleProceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009en_US
dc.subjectAnalytical return mapsen_US
dc.subjectDampingen_US
dc.subjectDeadbeat controlen_US
dc.subjectLegged locomotionen_US
dc.subjectRunning robotsen_US
dc.subjectSLIPen_US
dc.subjectReturn mapen_US
dc.subjectDynamicsen_US
dc.subjectMachine designen_US
dc.subjectMathematical techniquesen_US
dc.subjectMobile robotsen_US
dc.subjectStabilityen_US
dc.titleAn analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with dampingen_US
dc.typeConference Paperen_US

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