Gait transition and orbital stability analysis for a biped robot based on the V-DSLIP model with torso and swing leg dynamics

Liao, Fakang; Zhou, Yuxuan; Zhang, Qizhi

doi:10.1007/s11071-022-07364-z

Cited by 8 publications

(1 citation statement)

References 31 publications

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“…Liao et al proposed the variable legs stiffness damper‐spring‐loaded inverted pendulum with a rigid torso and swing leg dynamics. The influence of the dynamics of the torso and swing leg on the gait of the robot is fully considered (Liao et al, 2022). Pelit et al proposed a new template model called spring loaded inverted pendulum with swing legs (SLIP‐SL) which improves on the popular SLIP model by adding passive swing leg dynamics (Pelit et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Optimization and evaluation of swing leg retraction for a hydraulic biped robot

Chen

Wei

et al. 2023

Journal of Field Robotics

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To improve the locomotion performance of legged robots, the swing leg retraction (SLR) technique is investigated in a hydraulic biped robot. First, the influence of SLR on the locomotion performance of the hydraulic biped robot is analyzed in theory and simulations based on an extended spring load inverted pendulum model. The influence contains three performance indicators: energy loss/effiency, friction/ slipping, and impact/compliance. Second, by synthesizing three performance indicators, using unified objective method and particle swarm optimization algorithm, the optimal SLR rate for gait planning based on Bezier curve is addressed.Finally, experiments are implemented to validate the effectiveness and feasibility of proposed method. And, the results show that the SLR technique is useful to reduce the impact force, improve the robot's locomotion stability and make room for impedance performance improvement of compliance controller. This research provides an insight for locomotion control of hydraulic legged robots.

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Section: Introductionmentioning

confidence: 99%