University of Pennsylvania

ScholarlyCommons Departmental Papers (ESE)

Department of Electrical & Systems Engineering

2001

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot Richard Altendorfer University of Michigan - Ann Arbor

Uluc Saranli University of Michigan - Ann Arbor

Haldun Komsuoglu University of Michigan - Ann Arbor

Daniel E. Koditschek University of Pennsylvania, [email protected]

H. Benjamin Brown Jr. Carnegie Mellon University See next page for additional authors

Follow this and additional works at: http://repository.upenn.edu/ese_papers Recommended Citation Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, and Robert Full, "Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot", . January 2001.

BibTeX entry @inproceedings{Altendorfer-Saranli-Komsuoglu.ISER2000, author = {Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek, D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie, D. and Full, R.}, title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot}, booktitle = {Proceedings on International Symposium on Experimental Robotics}, year = {2000} } This work is supported by DARPA/SPAWAR under contract N66001-00-C-8026. We thank Rodger Kram and Claire Farley for the use of the force plateform and Irv Scher for collaboration at an early stage of this project. This paper is posted at ScholarlyCommons. http://repository.upenn.edu/ese_papers/666 For more information, please contact [email protected].

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot 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. For more information: Kod*Lab Comments

BibTeX entry @inproceedings{Altendorfer-Saranli-Komsuoglu.ISER2000, author = {Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek, D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie, D. and Full, R.}, title = {Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot}, booktitle = {Proceedings on International Symposium on Experimental Robotics}, year = {2000} } This work is supported by DARPA/SPAWAR under contract N66001-00-C-8026. We thank Rodger Kram and Claire Farley for the use of the force plateform and Irv Scher for collaboration at an early stage of this project. Author(s)

Richard Altendorfer, Uluc Saranli, Haldun Komsuoglu, Daniel E. Koditschek, H. Benjamin Brown Jr., Martin Buehler, Ned Moore, Dave McMordie, and Robert Full

This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/666


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