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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Riddle, Steven Seipel, Justin |
| Copyright Year | 2012 |
| Abstract | The clock-torqued spring-loaded inverted pendulum (CT-SLIP) model describes the robust dynamic stability properties observed in most animals and some legged robots. However, the model’s behavior is sensitive to changes in liftoff conditions such as those experienced on realistic terrain. Here the incorporation of friction at the foot-ground interface is explored on the CT-SLIP model with specific interest in improving the transient center-of-mass dynamics. Multiple friction models are presented and tuned to reflect a periodic center-of-mass gait. The transient dynamics with friction are analyzed in comparison to the CT-SLIP model and improvements to the settling time and disturbance rejection were found. This addition of foot-ground contact friction may allow for better understanding of center-of-mass system dynamics on realistic terrain. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| Starting Page | 957 |
| Ending Page | 965 |
| Page Count | 9 |
| File Format | |
| ISBN | 9780791845035 |
| DOI | 10.1115/DETC2012-71411 |
| 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 | System dynamics Friction Dynamics (mechanics) Pendulums Center of mass Dynamic stability Springs Robots Clocks Transients (dynamics) |
| Content Type | Text |
| Resource Type | Article |
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