Evidence for spring loaded inverted pendulum running in a hexapod robot

ALTENDORFER R., Saranli U., KOMSUOGLU H., KODITSCHEK D., BROWN H., BUEHLER M., ...More

EXPERIMENTAL ROBOTICS VII, vol.271, pp.291-302, 2001 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 271
  • Publication Date: 2001
  • Journal Name: EXPERIMENTAL ROBOTICS VII
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED)
  • Page Numbers: pp.291-302
  • Middle East Technical University Affiliated: No

Abstract

This paper presents the first evidence that the Spring Loaded Inverted Pendulum (SLIP) may be "anchored" in our recently designed compliant leg hexapod robot, RHex. Experimentally measured RHex center of mass trajectories axe fit to the SLIP model and an analysis of the fitting error is performed. The fitting results are corroborated by numerical simulations. The "anchoring" of SLIP dynamics in RHex offers exciting possibilities for hierarchical control of hexapod robots.