TY - GEN
T1 - Analytical control parameters of the swing leg retraction method using an instantaneous SLIP model
AU - Shemer, Natan
AU - Degani, Amir
N1 - Publisher Copyright: © 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - The Spring-Loaded Inverted Pendulum (SLIP) is a widely used model for the description of humans and animals running motion. The SLIP model is, however, sensitive to impact angle for various terrain heights. One known method for increasing the model's robustness to terrain changes is the Swing Leg Retraction (SLR) method. Despite its popularity, an analytic formulation of this method has yet been provided. In this work, using an instantaneous stance phase assumption, we present the increase in robustness of the swing method. This analysis provides a way to isolate the optimal parameters of the SLR. We validate these optimal parameters in simulations and proof-of-concept experiments in a planar environment.
AB - The Spring-Loaded Inverted Pendulum (SLIP) is a widely used model for the description of humans and animals running motion. The SLIP model is, however, sensitive to impact angle for various terrain heights. One known method for increasing the model's robustness to terrain changes is the Swing Leg Retraction (SLR) method. Despite its popularity, an analytic formulation of this method has yet been provided. In this work, using an instantaneous stance phase assumption, we present the increase in robustness of the swing method. This analysis provides a way to isolate the optimal parameters of the SLR. We validate these optimal parameters in simulations and proof-of-concept experiments in a planar environment.
UR - http://www.scopus.com/inward/record.url?scp=84911484706&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/IROS.2014.6943134
DO - https://doi.org/10.1109/IROS.2014.6943134
M3 - منشور من مؤتمر
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4065
EP - 4070
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -