Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

R. Altendorfer, Uluc Saranli, H. Komsuoglu, D.E. Koditschek, H. Benjamin Brown, Martin Buehler, N. Moore, D. McMordie, and R. Full
Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302.


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Abstract
This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be "anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass tra jectories are fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The "anchoring" of SLIP dynamics in RHex offers exciting possibilities for hierarchical control of hexapod robots.

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory
Associated Project(s): RHex Robot
Number of pages: 10

Text Reference
R. Altendorfer, Uluc Saranli, H. Komsuoglu, D.E. Koditschek, H. Benjamin Brown, Martin Buehler, N. Moore, D. McMordie, and R. Full, "Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot," Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302.

BibTeX Reference
@incollection{Saranli_2001_5550,
   author = "R. Altendorfer and Uluc Saranli and H. Komsuoglu and D.E. Koditschek and H. Benjamin Brown and Martin Buehler and N. Moore and D. McMordie and R. Full",
   editor = "D. Rus and S. Singh",
   title = "Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot",
   booktitle = "Experimental Robotics VII",
   pages = "291 - 302",
   publisher = "Springer-Verlag",
   year = "2001",
}