The generalized spring-loaded inverted pendulum model for analysis of various planar reduced-order models and for optimal robot leg design

Abstract

This paper proposes a generalized spring-loaded inverted pendulum (G-SLIP) model to explore various popular reduced-order dynamic models' characteristics and suggest a better robot leg design under specified performance indices. The G-SLIP model’s composition can be varied by changing the model’s parameters, such as ground contacting type and spring property. It can be transformed into four widely used models: the spring-loaded inverted pendulum (SLIP) model, the two-segment leg (TSL) model, the SLIP with rolling foot (SLIP-RF) model, and the rolling SLIP (R-SLIP) model. The effects of rolling contact and spring configuration on the dynamic behavior and fixed-point distribution of the G-SLIP model were analyzed, and the basins of attraction (BOA) of the four described models were studied. By varying the parameters of the G-SLIP model, the dynamic behavior of the model can be optimized. Optimized for general locomotion running at various speeds, the model provided leg design guidelines. The leg was empirically fabricated and installed on the hexapod for experimental evaluation. The results indicated that the robot with a designed leg runs faster and is more power-efficient.

On the analysis and control of a bipedal legged locomotion model via partial feedback linearization

“…The study of legged locomotion and its control has garnered significant interest in the field of robotics (Buschmann et al 2015, Torres-Pardo et al 2022, Lu and Lin 2024, with the overarching aim of surpassing the performance of existing wheeled or tracked systems. Many of these investigations depend upon physics-driven mathematical models, employing the principles of Lagrangian dynamics.…”