Paper Info
Title
Seeking The Analytical Approximation Of The Stance Dynamics Of The 3d Spring-Loaded Inverted Pendulum Model By Using Perturbation Approach
Abstract
The Spring-Loaded Inverted Pendulum (SLIP) has been widely exploited in both biomechanical and robotics research due to its simple form in mathematics and high accuracy in fitting experimental biology data. However the intrinsic nonlinearity of the SLIP dynamics makes accurate analytical representation unavailable. Traditional methods take advantage of numerical integration to handle this issue while several existing analytical approximations focusing on 2D-SLIP model. The 3D-SLIP suitable to physical reality is rarely investigated. This paper presents a novel perturbation-based approach to obtain the closed-form analytical approximations of the 3D-SLIP model in stance phase. In contrast to existing work ignoring the gravitational forces, the proposed approach just relies on assumptions of small leg compression and small leg swept angle. The performance of the derived approximations has been evaluated via comprehensive numerical analysis. The quality of accurate apex prediction promises the approximation as an advantageous and reliable tool for locomotion control of legged robots.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8968527
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Inverted pendulum,Nonlinear system,Computer science,Control theory,Numerical integration,Slip (materials science),Control engineering,Artificial intelligence,Robot,Numerical analysis,Robotics,Perturbation (astronomy)
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
6
Name
Order
Citations
PageRank
Haitao Yu120.73
ShengJun Wang2162.06
Kaizheng Shan300.34
Jun Li417520.98
Lixian Zhang53028125.86
Haibo Gao624639.27