A Generalized Spring-Loaded Inverted Pendulum Model for Legged Robots

Guangrong Chen,Huafeng Lu,Junzheng Wang,Bowen Hou,Sheng Guo

doi:10.1007/978-3-030-81166-2_45

A Generalized Spring-Loaded Inverted Pendulum Model for Legged Robots

Guangrong Chen, Huafeng Lu + Show 3 more

https://doi.org/10.1007/978-3-030-81166-2_45

Copy DOI

Publication Date: Jun 25, 2021

Citations: 1

Affiliation: Beijing Jiaotong University, Beijing Institute of Technology, Shanghai Tunnel Engineering Rail Transit Design & Research Institute

#Spring-loaded Inverted Pendulum Model #Spring-loaded Inverted Pendulum + Show 6 more

Abstract
Full-Text PDF
Similar Papers

Abstract

In this chapter, an articulated/generalized spring-loaded inverted pendulum (GSLIP) model is proposed firstly. Secondly, the analytical approximation of the proposed GSLIP model is addressed through the method of perturbation. Thirdly, the prediction performances of approximations of the proposed GSLIP model are discussed. Finally, comparative simulations show that the GSLIP model would achieve better prediction performance than the classical spring-loaded inverted pendulum (SLIP) model.

Full Text