Iterative Periodic Running Control Through Swept Angle Adjustment With Modified SLIP Model

This paper presents a periodic running control strategy based on a modified Spring-Loaded Inverted Pendulum (SLIP) model to achieve stable running at various velocities. While the traditional SLIP model is valued for its simplicity and intuitive representation of running dynamics, its limitations im...

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Veröffentlicht in:	IEEE robotics and automation letters 2024-11, Vol.9 (11), p.9605-9612
Hauptverfasser:	Kang, Woosong, Jeong, Jeil, Hong, Jeongwoo, Yeo, Changmin, Park, Dong Il, Oh, Sehoon
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Analytical models Angular velocity Control stability Control systems Dynamics Feedback control Heuristic algorithms Humanoid and bipedal locomotion Legged locomotion legged robots Locomotion Motion stability Real time Representations Robots running Slip Springs Trajectory
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