2010
DOI: 10.1007/s11071-010-9757-8
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Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping

Abstract: This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajectories. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its careful analysis is instrumental in the design of successful locomotion controllers. Unfortunately, none of the existing analytic methods in the literature explicitly take damping … Show more

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Cited by 84 publications
(101 citation statements)
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References 33 publications
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“…An example of an approximate technique for calculation of the lift-off time in the damped SLIP model is presented in [32]. The authors use the following approximation to simplify the equations of the stance dynamics by assuming equal compression and decompression times:…”
Section: Energy Loss Due To Dampingmentioning
confidence: 99%
“…An example of an approximate technique for calculation of the lift-off time in the damped SLIP model is presented in [32]. The authors use the following approximation to simplify the equations of the stance dynamics by assuming equal compression and decompression times:…”
Section: Energy Loss Due To Dampingmentioning
confidence: 99%
“…Elastic couplings acting as pogo-stick have been used for a long time in hopping and running robots [2,36] and their influence on the dynamics has been analyzed in detail with the model of the spring loaded inverted pendulum [6,9,21,37].…”
Section: Introductionmentioning
confidence: 99%
“…This system was originally used as a benchmark for educational purposes, see [1,6,15,33,39,43,44,46] .Through the years, this system has attracted attention as an important underactuated mechanical system, because the pendulum angular acceleration cannot be directly controlled [18,42]. As the CPS dynamics resembles that of many underactuated robot systems, it has been studied as a simplified model such systems (see [7,27,30,38,40,43] ). This system is made up of a cart that moves, forward and backward, over a straight line and has a free-moving pendulum hanging from it.…”
Section: Introductionmentioning
confidence: 99%