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Document Biped hopping control bazsed on spring loaded inverted pendulum model [electronic resource]

Tamaddoni, H. (Hossein) ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1142/S0219843610002106
  3. Abstract:
  4. Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides feasible gait trajectories for stance and swing phases
  5. Keywords:
  6. Biped ; Hopping ; Jumping ; Running ; SLIP ; Gait ; Control
  7. Source: Int. Journal of Humanoid Robotics ; Vol. 7, No. 2, pp. 263-280, 2010
  8. URL: http://www.worldscientific.com/doi/abs/10.1142/S0219843610002106