Article detail · 2015
Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template
Journal
IEEE Transactions on Robotics- Year
- 2015
- Type
- article
Data source split
- YÖKSİS venue IEEE Transactions on Robotics
- OpenAlex OpenAlex enrichment (abstract, citations, topics)
Abstract
OpenAlex · English
Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature to ensure its accuracy and applicability to a physical monopedal platform. To this end, we present systematic experiments on a well-instrumented planar monopod robot, first to perform careful identification of system parameters and subsequently to assess predictor performance. Our results show that the approximate solutions to the spring-loaded inverted pendulum dynamics are capable of predicting physical robot position and velocity trajectories with average prediction errors of 2% and 7%, respectively. This predictive performance together with the simple analytic nature of the approximations shows their suitability as a basis for both state estimators and locomotion controllers.
Topics
Citations
OpenAlex cited_by_count. Not a WoS or Scopus citation count; those sources have no separate column here.
37 citations
OpenAlex cited_by_count (cache / database)
19 publications in the local catalog that cite this work (OpenAlex reference match; not the full global list).
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- Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation 2021
- On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization 2017
- Identification of a vertical hopping robot model via harmonic transfer functions 2016
- Identification of a vertical hopping robot model via harmonic transfer functions 2016
- Identification of a vertical hopping robot model via harmonic transfer functions 2015
- Control of Planar Spring–Mass Running Through Virtual Tuning of Radial Leg Damping 2018
- Toward data-driven models of legged locomotion using harmonic transfer functions 2015
- Approximate analytical solutions to the double-stance dynamics of the lossy spring-loaded inverted pendulum 2017
- Enlarging the region of stability using the torque-enhanced active SLIP model 2015