scholarly journals SLIP-SL: Walking Control Based on an Extended SLIP Model with Swing Leg Dynamics

2021 ◽  
Vol 6 (3) ◽  
pp. 84-91
Author(s):  
Junho Chang ◽  
Mustafa Melih Pelit ◽  
Masaki Yamakita
Keyword(s):  
Slip Model ◽  
Walking Control

A Robust Walking Control System of Humanoid Robot

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 484-490
Author(s):  
Lun XIE ◽  
Zhiliang WANG ◽  
Chong WANG ◽  
Jiaming XU
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Walking Control

Multi-Contacts Force-Reactive Walking Control during Physical Human-Humanoid Interaction

2019 ◽  
Author(s):  
Taisuke Kobayashi ◽  
Emmanuel Dean-Leon ◽  
Julio Rogelio Guadarrama-Olvera ◽  
Florian Bergner ◽  
Gordon Cheng
Keyword(s):  
Walking Control

scholarly journals Walking Control of a Biped Robot by Impedance Control

1997 ◽  
Vol 117 (10) ◽  
pp. 1227-1233 ◽  
Author(s):  
Sorao Kenji ◽  
Murakami Toshiyuki ◽  
Ohnishi Kouhei
Keyword(s):  
Impedance Control ◽  
Biped Robot ◽  
Walking Control

A Simple Analytical Tool for Legged Robot Design

2012 ◽  
Author(s):  
Zhuohua Shen ◽  
Justin Seipel
Keyword(s):  
Analytical Solutions ◽  
Inverted Pendulum ◽  
Legged Locomotion ◽  
Robot Design ◽  
Slip Model ◽  
Legged Robot ◽  
Biologically Relevant ◽  
Analytical Approximations ◽  
Energy Conserving ◽  
Spring Loaded Inverted Pendulum

Although legged locomotion is better at tackling complicated terrains compared with wheeled locomotion, legged robots are rare, in part, because of the lack of simple design tools. The dynamics governing legged locomotion are generally nonlinear and hybrid (piecewise-continuous) and so require numerical simulation for analysis and are not easily applied to robot designs. During the past decade, a few approximated analytical solutions of Spring-Loaded Inverted Pendulum (SLIP), a canonical model in legged locomotion, have been developed. However, SLIP is energy conserving and cannot predict the dynamical stability of real-world legged locomotion. To develop new analytical tools for legged robot designs, we first analytically solved SLIP in a new way. Then based on SLIP solution, we developed an analytical solution of a hip-actuated Spring-Loaded Inverted Pendulum (hip-actuated-SLIP) model, which is more biologically relevant and stable than the canonical energy conserving SLIP model. The analytical approximations offered here for SLIP and the hip actuated-SLIP solutions compare well with the numerical simulations of each. The analytical solutions presented here are simpler in form than those resulting from existing analytical approximations. The analytical solutions of SLIP and the hip actuated-SLIP can be used as tools for robot design or for generating biological hypotheses.

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