Coordination of monopedal SLIP models towards quadrupedal running

M. Shahbazi Aghbelagh, G.A. Delgado Lopes

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

This paper presents a coordination controller for the Dual-SLIP model, a novel template for quadrupedal steady and transitional running. The model consists of a pair of "physically-unconnected" Spring-Loaded Inverted Pendulums (SLIPs), each representing a part of the body of a quadruped (see Figure 1). For this model, we propose a spatiotemporal coordination controller that describes the evolution of coordination parameters by simple difference equations. A "time-aware" deadbeat low-level controller is also proposed to realizing the generated control specifications in each SLIP individually. Evaluation of the proposed coordination controller for the Dual-SLIP model in simulation shows that even with remarkably off-phase initial conditions and ground height variation disturbances, quadrupedal bounding, pronking and different transitions between them can be realized.

Original languageEnglish
Title of host publicationProceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
EditorsDong-Soo Kwon, Chul-Goo Kang, Il Hong Suh
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages5440-5445
ISBN (Electronic)978-1-5090-3762-9
DOIs
Publication statusPublished - 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS 2016
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

Keywords

  • Schedules
  • Mathematical model
  • Legged locomotion
  • Torso
  • Robot kinematics
  • Generators

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