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Haldun Komsuoglu





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Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

Proceedings on International Symposium on Experimental Robotics, 2000

Altendorfer, R.*Saranli, U.*Komsuoglu, H.*
Koditschek, D. E.*Brown, Jr. H. B.†Buehler, M.‡
Moore, N.‡McMordie, D.‡Full, R.**
*: Department of Electrical Engineering and Computer Science, University of Michigan
†: Department of Mechanical Engineering, McGill University, Montreal
‡: Department of Integrative Biology, University of California at Berkeley

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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 are 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.
BibTeX entry
  author = {Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek,
	D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie,
	D. and Full, R.},
  title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot},
  booktitle = {Proceedings on International Symposium on Experimental Robotics},
  year = {2000}

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