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Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

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.

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Author information

Authors and Affiliations

  1. Artificial Intelligence Laboratory, University of Michigan, Ann Arbor, MI, 48109

    Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu & Daniel Koditschek

  2. The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213

    H. Benjamin Brown Jr.

  3. Ambulatory Robotics Laboratory, Dept. of Mech. Engineering, McGill University, Montréal, Québec, Canada, H2A 2A7

    Martin Buehler, Ned Moore & Dave McMordie

  4. Dept. of Integrative Biology, University of California at Berkeley, Berkeley, CA, 94720

    Robert Full

Authors
  1. Richard Altendorfer
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  2. Uluc Saranli
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  3. Haldun Komsuoglu
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  4. Daniel Koditschek
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  5. H. Benjamin Brown Jr.
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  6. Martin Buehler
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  7. Ned Moore
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  8. Dave McMordie
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  9. Robert Full
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Altendorfer, R. et al. (2001). Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_30

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  • DOI: https://doi.org/10.1007/3-540-45118-8_30

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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