Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

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 trajectories 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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA438810

Entities

People

  • Daniel E. Koditschek
  • Dave Mcmordie
  • H. B. Brown Jr.
  • Haldun Komsuoglu
  • Martin Buehler
  • Ned Moore
  • Richard Altendorfer
  • Robert J Full
  • Uluc Saranli

Organizations

  • University of Michigan

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Collision Avoidance
  • Complex Systems
  • Composite Materials
  • Data Analysis
  • Decompression
  • Equations Of Motion
  • Experimental Data
  • Frequency
  • Mechanics
  • Pendulums
  • Power Spectra
  • Resonant Frequency
  • Robots
  • Simulations
  • Standards
  • Visual Servoing

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.
  • Structural Dynamics.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy