Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single support phase of walking
نویسندگان
چکیده
منابع مشابه
An Analytical Solution to the Stance Dynamics of Passive Spring-Loaded Inverted Pendulum with Damping
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 pro...
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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 ...
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Humans and other animals exchange gravitational potential energy (GPE) and kinetic energy (KE) of the center of mass during level walking. How effective is this energy exchange during downhill and uphill walking? Based on previous reports and our own reasoning, we expected that during downhill walking, the possibility for mechanical energy exchange would be enhanced and during uphill walking, t...
متن کاملApproximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping
This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the SpringLoaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajectories. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its careful analysis is instrumental in the design of successful lo...
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The strategies involved in swinging up and balancing the inverted pendulum are discussed. The nonlinear swing-up controller drives the system input according to the energy of the pendulum. The balancing controller is a digital linear quadratic regulator that is based on a model of the plant that has been linearized about the pendulum’s upright equilibrium position. Relays with hysteresis are em...
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ژورنال
عنوان ژورنال: Biology Open
سال: 2019
ISSN: 2046-6390
DOI: 10.1242/bio.043695