Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

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. For more information: Kod*Lab Comments BibTeX entry @inproceedings{Altendorfer-Saranli-Komsuoglu.ISER2000, author = {Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek, D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie, D. and Full, R.}, title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot}, booktitle = {Proceedings on International Symposium on Experimental Robotics}, year = {2000} } This work is supported by DARPA/SPAWAR under contract N66001-00-C-8026. We thank Rodger Kram and Claire Farley for the use of the force plateform and Irv Scher for collaboration at an early stage of this project. Author(s) Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, and Robert Full This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/666