Publication

Anchoring the SLIP template: The effect of leg mass on running stability

Auke Ijspeert
2011
Posters

Abstract

Spring-like leg behavior was found in the global dynamics of human and animal running in sagittal plane. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a large range of speeds and is, therefore, a promising concept for the design of legged robots. However, an anchoring of this template is needed in order to provide functions of biological structures (e.g., mass distribution, leg design) and engineers’ details for construction. We extend the SLIP template model towards two new models that we call M-SLIP and BM-SLIP by adding considerable leg masses to investigate the influence of leg rotation on running stability. Our study clearly reveals that the spring-loaded inverted pendulum can be anchored in a leg mass model. This supports model- and simulation-driven engineering towards robotic behavior inspired from biological systems.

Official source

https://infoscience.epfl.ch/entities/publication/05774dae-151b-4b69-9be8-3079a9c8a721

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Auke Ijspeert
2011
Posters

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/05774dae-151b-4b69-9be8-3079a9c8a721

About this result

Related concepts (32)

Bio-inspired robotics

Bio-inspired robotic locomotion is a fairly new subcategory of bio-inspired design. It is about learning concepts from nature and applying them to the design of real-world engineered systems. More specifically, this field is about making robots that are inspired by biological systems, including Biomimicry. Biomimicry is copying from nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature.

Human leg

The human leg is the entire lower limb of the human body, including the foot, thigh or sometimes even the hip or buttock region. The major bones of the leg are the femur (thigh bone), tibia (shin bone), and adjacent fibula. The thigh is between the hip and knee, while the calf (rear) and shin (front) are between the knee and foot. Legs are used for standing, many forms of human movement, recreation such as dancing, and constitute a significant portion of a person's mass.

Legged robot

Legged robots are a type of mobile robot which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry. Legged robots, or walking machines, are designed for locomotion on rough terrain and require control of leg actuators to maintain balance, sensors to determine foot placement and planning algorithms to determine the direction and speed of movement.

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Anchoring the SLIP template: The effect of leg mass on running stability

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