Analysis And Control Of A Dissipative Spring-mass Hopper With Torque Actuation

Date

2010-06-30

Author

Ankaralı, Mustafa Mert
Saranlı, Uluç

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https://www.google.com.tr/url?sa=trct=jq=esrc=ssource=webcd=1cad=rjauact=8ved=0ahUKEwjo6avUwsbYAhWLC5oKHeZXBfcQFggsMAAurl=http3A2F2Fwww.roboticsproceedings.org2Frss062Fp06.pdfusg=AOvVaw3xKpatPJGyQOegb9QpUIfL
https://hdl.handle.net/11511/82578

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Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation Ankaralı, Mustafa Mert; Saranlı, Uluç (2011-01-01) It has long been established that simple spring-mass models can accurately represent the dynamics of legged locomotion. Existing work in this domain, however, almost exclusively focuses on the idealized Spring-Loaded Inverted Pendulum (SLIP) model and neglects passive dissipative effects unavoidable in any physical robot or animal. In this paper, we extend on a recently proposed analytic approximation to the stance trajectories of a dissipative SLIP model to analyze stability properties of a planar hopper w...
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M. M. Ankaralı and U. Saranlı, “Analysis And Control Of A Dissipative Spring-mass Hopper With Torque Actuation,” 2010, Accessed: 00, 2021. [Online]. Available: https://www.google.com.tr/url?sa=trct=jq=esrc=ssource=webcd=1cad=rjauact=8ved=0ahUKEwjo6avUwsbYAhWLC5oKHeZXBfcQFggsMAAurl=http3A2F2Fwww.roboticsproceedings.org2Frss062Fp06.pdfusg=AOvVaw3xKpatPJGyQOegb9QpUIfL.