Gait Based on the Spring-Loaded Inverted Pendulum

Geyer, Hartmut; Saranlı, Uluç

doi:10.1007/978-94-007-7194-9_43-1

“…The notation of the S2S in legged locomotion is an adaptation of the Poincaré return map in nonlinear dynamics [32]. The S2S has mostly appeared in controlling SLIP running [33], [34]. By investigating the evolution of the apex states, the S2S/return map of running can be easily obtained on the SLIP.…”

Section: B Related Workmentioning

confidence: 99%

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

Xiong

¹

,

Ames

²

2022

View full text Add to dashboard Cite

In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D underactuated bipedal walking. The H-LIP model is proposed to capture the essential components of the underactuated part and actuated part of the robotic walking. The walking gait of the robot is then synthesized based on the H-LIP. We comprehensively characterize the periodic orbits of the H-LIP and provably derive their stepping stabilization. The step-to-step (S2S) dynamics of the H-LIP is then utilized to approximate the S2S dynamics of the horizontal state of the center of mass (COM) of the robotic walking, which results in a H-LIP based stepping controller to provide desired step sizes to stabilize the robotic walking. By realizing the desired step sizes, the robot achieves dynamic and stable walking. The approach is evaluated in both simulation and experiment on the 3D underactuated bipedal robot Cassie, which demonstrate dynamic walking behaviors with both versatility and robustness.

show abstract

“…The notation of the S2S in legged locomotion is an adaptation of the Poincaré return map in nonlinear dynamics [33]. The S2S has appeared in controlling SLIP running [34], [35]. By investigating the evolution of the apex states, the S2S/return map of running can be easily obtained on the SLIP.…”

Section: B Related Workmentioning

confidence: 99%

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization

Xiong¹,

Ames²

2021

Preprint

View full text Add to dashboard Cite

In this paper, we present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D underactuated bipedal walking. The H-LIP model is proposed to capture the essential components of the underactuated part and actuated part of the robotic walking. The walking gait of the robot is then synthesized based on the H-LIP. We comprehensively characterize the periodic orbits of the H-LIP and provably derive their stepping stabilization. The step-to-step (S2S) dynamics of the H-LIP is then utilized to approximate the S2S dynamics of the horizontal state of the center of mass (COM) of the robotic walking, which results in a H-LIP based stepping controller to provide desired step sizes to stabilize the robotic walking. By realizing the desired step sizes, the robot achieves dynamic and stable walking. The approach is evaluated in both simulation and experiment on the 3D underactuated bipedal robot Cassie, which demonstrate dynamic walking behaviors with both versatility and robustness.

show abstract

“…Considering natural and energy efficient locomotion, a well known mathematical concept describing the locomotion of animals is the spring-loaded inverted pendulum (SLIP). This SLIP model [1] was initially proposed by Blickhan [2], although prior work goes back to McMahon and Greene [3], proposing early concepts of the model. The SLIP model assumes the body mass concentrated in one point and a massless leg, comprising a linear spring, acting between body and ground contact, see Figure 1.…”

Section: The Slip Modelmentioning

confidence: 99%

“…With two legs being in contact, the model involves a double-stance phase, which is inherently necessary for the modelling of walking in addition to running that only considers one ground contact at a time. An important note is that the SLIP behaviour is not only achievable by the mechanical design but also by the implemented control algorithms [1], which can produce SLIP characteristics. With regard to energy efficient locomotion, the implementation of the springs in the SLIP design is of high significance, as they provide energy storage and therefore enable passive dynamics of the legged robot, lowering the requirements of energy consumption and necessary power of the actuators.…”

Section: The Slip Modelmentioning

confidence: 99%

Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Feller

¹

,

Siemers

²

2021

Robotics

3

0

View full text Add to dashboard Cite

In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the robot hip structure is proposed. The general design and conceptual ideas for the robot are presented, targeting a close match of the well-known SLIP-model. CAD models, 3d-printed prototypes, and proof-of-concept multi-body simulations are shown, investigating the feasibility to employ a geometrically dense spherical parallel manipulator with completely spherically shaped shell-type parts for the highly force-loaded application in the legged robot hip mechanism. Furthermore, in this study, an analytic expression is derived, yielding the calculation of stress forces acting inside the linkage structures, by directly constructing the manipulator hip Jacobian inside the force domain.

show abstract

Gait Based on the Spring-Loaded Inverted Pendulum

Cited by 16 publications

References 58 publications

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization

Topological Analysis of a Novel Compact Omnidirectional Three-Legged Robot with Parallel Hip Structures Regarding Locomotion Capability and Load Distribution

Contact Info

Product

Resources

About