An Analytical Solution to the Stance Dynamics of Passive Spring-Loaded Inverted Pendulum with Damping

Download

index.pdf

Date

2009-09-11

Author

ANKARALI, M. M.
Arslan, O.
Saranlı, Uluç

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

124
views

0
downloads

The 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 nonintegrable dynamics of this 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 that it significantly outperforms them in the presence of damping in the leg.

Subject Keywords

SLIP, Damping, Legged locomotion, Running robots, Deadbeat control, Analytical return maps

URI

https://hdl.handle.net/11511/35127

DOI

https://doi.org/10.1142/9789814291279_0085

Collections

Department of Computer Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

An Approximate Stance Map of The Spring Mass Hopper with Gravity Correction For Nonsymmetric Locomotions Arslan, Omuer; Saranlı, Uluç; Morgul, Omer (2009-05-17) The Spring-Loaded Inverted Pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for several hopping robot designs. Further research on this model led to the discovery of several analytic approximations to its normally nonintegrable dynamics. However, these approximations mostly focus on steady-state running with symmetric trajectories due to their linearization of gravitati...
Extending The Lossy Spring-Loaded Inverted Pendulum Model with a Slider-Crank Mechanism Orhon, H. Eftun; Odabas, Caner; Uyanik, Ismail; Morgul, Omer; Saranlı, Uluç (2015-07-31) Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies so...
Analysis and control of a body-attached spring-mass runner based on central pivot point approach Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01) © 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is composed of single point mass attached to the ground (during stance phase) via an ideal lossless spring. Many researchers introduced various extensions to this fundamental model, such as damping torque actuation, to handle critical physical phenomena that are unavoidable in real systems. ...
Analysis and control of a running spring-mass model with a trunk based on virtual pendulum concept Karagoz, O K; Secer, G; Ankaralı, Mustafa Mert; Saranli, U (2022-05-26) © 2022 IOP Publishing Ltd.The spring-loaded inverted pendulum model has been one of the most studied conceptual models in the locomotion community. Even though it can adequately explain the center of mass trajectories of numerous legged animals, it remains insufficient in template-based control of complex robot platforms, being unable to capture additional dynamic characteristics of locomotion exhibited in additional degrees of freedom such as trunk pitch oscillations. In fact, analysis of trunk behavior du...
A new structural modification method with additional degrees of freedom for dynamic analysis of large systems Şayin, Burcu; Ciğeroğlu, Ender (2013-02-14) Structural modification techniques are widely used to predict the dynamic characteristics of modified systems by using the information of the original and modifying systems. Nowadays, due to the increased computational power, large finite element models are regularly used. During design optimization, modifications are done on the original structure in order to meet the design requirements which require reevaluation of the dynamic response of the structure. This is a time consuming process since for each mod...

Citation Formats

M. M. ANKARALI, O. Arslan, and U. Saranlı, “An Analytical Solution to the Stance Dynamics of Passive Spring-Loaded Inverted Pendulum with Damping,” 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/35127.