NDLI: SLIP with swing leg augmentation as a model for running

Content Provider	IEEE Xplore Digital Library
Author	Mohammadi Nejad Rashty, A. Sharbafi, M.A. Seyfarth, A.
Copyright Year	2014
Description	Author affiliation: Lauflabor Lab., Tech. Univ. of Darmstadt, Darmstadt, Germany (Mohammadi Nejad Rashty, A.; Sharbafi, M.A.; Seyfarth, A.)
Abstract	Swing leg adjustment, repulsive leg function and balance are key elements in the control of bipedal locomotion. In simple gait models like spring-loaded inverted pendulum (SLIP), swing leg control can be applied to achieve stable running. The aim of this study is to investigate the ability of pendulum like swing leg motion for stabilizing running and reproducing a desired (human like) gait pattern. The employed running model consists of two sub-models: SLIP model for the stance phase and a pendulum based control for the swing phase. It is shown that with changing the pendulum length at each step, stable running gaits with widely different performances are achieved. The body vertical speed at take off is utilized as feedback information to tune the pendulum length as the control parameter. In particular, the effect of the pendulum length adjustment on the motion characteristics like horizontal speed, apex height and the stabilized system energy will be investigated. With this method key features of the human like swing leg motion e.g. leg retraction can be reproduced. Higher speeds correspond larger angular motion of each leg which is in agreement with experimental results in previous studies. The presented model also explains the swing-leg to stance-leg interaction mechanism which was not addressed in the underlying SLIP model. This conceptual model can be considered as a functional mechanical template for legged locomotion and can be used to build more complex models, e.g. having segmented legs or an upper body.
Starting Page	2543
Ending Page	2549
File Size	577351
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942909
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Stability analysis Asymptotic stability Mathematical model Limit-cycles Load modeling Springs
Content Type	Text
Resource Type	Article

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