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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Sullivan, Timothy Seipel, Justin |
| Copyright Year | 2012 |
| Abstract | The Spring Loaded Inverted Pendulum (SLIP) model was developed to describe center of mass movement patterns observed in animals, using only a springy leg and a point mass. However, SLIP is energy conserving and does not accurately represent any biological or robotic system. Still, this model is often used as a foundation for the investigation of improved legged locomotion models. One such model called Torque Damped SLIP (TD-SLIP) utilizes two additional parameters, a time dependent torque and dampening to drastically increase the stability. Forced Damped SLIP (FD-SLIP), a predecessor of TD-SLIP, has shown that this model can be further simplified by using a constant torque, instead of a time varying torque, while still maintaining stability. Using FD-SLIP as a base, this paper explores a leg placement strategy using a simple PI controller. The controller takes advantage of the fact that the energy state of FD-SLIP is symmetric entering and leaving the stance phase during steady state conditions. During the flight phase, the touch down leg angle is adjusted so that the energy dissipation due to dampening, during the stance phase, compensates for any imbalance of energy. This controller approximately doubles the region of stability when subjected to velocity perturbations at touchdown, enables the model to operate at considerably lower torque values, and drastically reduces the time required to recover from a perturbation, while using less energy. Finally, the leg placement strategy used effectively imitates the natural human response to velocity perturbations while running. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| Starting Page | 935 |
| Ending Page | 940 |
| Page Count | 6 |
| File Format | |
| ISBN | 9780791845035 |
| DOI | 10.1115/DETC2012-71372 |
| Volume Number | Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2012-08-12 |
| Publisher Place | Chicago, Illinois, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Legged locomotion Torque Stability Energy dissipation Center of mass Flight Pendulums Control equipment Energy levels (quantum mechanics) Springs Steady state Robotics |
| Content Type | Text |
| Resource Type | Article |
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