Stability and robustness of a 3D SLIP model for walking using lateral leg placement control

Bauer F, Seipel J, Budday D (2012)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2012

Edited Volumes: Proceedings of the ASME Design Engineering Technical Conference

Pages Range: 859-866

Conference Proceedings Title: Proceedings of the ASME

Event location: Chicago US

DOI: 10.1115/DETC2012-71154

Abstract

The SLIP model has shown a way to easily represent the center of mass dynamics of human walking and running. For 2D motions in the sagittal plane, the model shows self-stabilizing effects that can be very useful when designing a humanoid robot. However, this self-stability could not be found in threedimensional running, but simple control strategies achieved stabilization of running in three dimensions. Yet, 3D walking with SLIP has not been analyzed to the same extent. In this paper we show that three-dimensional humanoid SLIP walking is also unstable, but can be stabilized using the same strategy that has been successful for running. It is shown that this approach leads to the desired periodic solutions. Furthermore, the influence of different parameters on stability and robustness is examined. Using a performance test to simulate the transition from an upright position to periodic walking we show that the stability is robust. With a comparison of common models for humanoid walking and running it is shown that the simple control mechanism is able to achieve stable solutions for all models, providing a very general approach to this problem. The derived results point out preferable parameters to increase robustness promising the possibility of successfully realizing a humanoid walking robot based on 3D SLIP. © 2012 by ASME.

Authors with CRIS profile

Dominik Budday Institute of Applied Dynamics

Related research project(s)

Protein flexibility and conformational ensembles from kino-geometric modeling and sampling to motion planning June 1, 2014 - March 31, 2019

Involved external institutions

Karlsruhe Institute of Technology (KIT) DE Germany (DE) Purdue-University US United States (USA) (US)

How to cite

APA:

Bauer, F., Seipel, J., & Budday, D. (2012). Stability and robustness of a 3D SLIP model for walking using lateral leg placement control. In Proceedings of the ASME (pp. 859-866). Chicago, US.

MLA:

Bauer, Fabian, Justin Seipel, and Dominik Budday. "Stability and robustness of a 3D SLIP model for walking using lateral leg placement control." Proceedings of the ASME, Chicago 2012. 859-866.

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