Publication

Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation

2011
Conference Papers

Abstract

Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip actuation through Central Pattern Generators. Using this framework we present studies suggesting that compliant in contrast to rigid hip actuation and the addition of a simple feedback scheme can highly enhance the robustness of the robot locomotion against parameter changes.

Official source

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2011
Conference Papers

Abstract

Official source

Related concepts (27)

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.

Hexapod (robotics)

A six-legged walking robot should not be confused with a Stewart platform, a kind of parallel manipulator used in robotics applications. A hexapod robot is a mechanical vehicle that walks on six legs. Since a robot can be statically stable on three or more legs, a hexapod robot has a great deal of flexibility in how it can move. If legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot's legs are needed for stability; other legs are free to reach new foot placements or manipulate a payload.

Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.

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Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation

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