Approximation and Control of the SLIP Model Dynamics via Partial Feedback Linearization and Two-Element Leg Actuation Strategy


The spring loaded inverted pendulum (SLIP) has been extensively studied and used as a model capturing general aspects of legged locomotion. Biological information counsel that legs regulate energy production and removal via muscle activation; thus, the conservative SLIP model cannot absolutely make a case for the robustness of many legged animals during running and hopping gaits. In this work we tend to take into account the active SLIP model: an energetically nonconservative version of the SLIP model with added series actuation. In particular, we have a tendency to propose a partial feedback linearization action for actuator displacement to analytically solve part of its dynamics, thereby reducing computational time and increasing the practicality of performing on-line management actions. This is often then paired with a 2-part management action to add/take away energy to/from the system and modify the upcoming apex state to span an open set within the reachable apex states. In addition, we have a tendency to develop two control methods for online computation of actuator displacement and leg positioning: one to drive the system to a desired state, even within the presence of terrain perturbation, and the opposite to control the system to hop on a desired set of terrain footholds. Furthermore, we demonstrate the proposed strategy on a more dynamically refined planar hopper model.

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