Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping

Date

2010

Authors

Saranlı U.
Arslan, Ö.
Ankaralı, M. M.
Morgül, Ö.

Editor(s)

Advisor

Supervisor

Co-Advisor

Co-Supervisor

Instructor

BUIR Usage Stats
5
views
35
downloads

Citation Stats

Series

Abstract

This 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.

Source Title

Nonlinear Dynamics: an international journal of nonlinear dynamics and chaos in engineering systems

Publisher

Springer Netherlands

Course

Other identifiers

Book Title

Degree Discipline

Degree Level

Degree Name

Citation

Published Version (Please cite this version)

Language

English