PROJECT TITLE :

Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template

ABSTRACT:

Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates correct analytical approximations to their dynamics. Despite the provision of a number of such analytical predictors in the literature, their validation has largely been wiped out simulation, and it is nonetheless unclear how well they perform when applied to physical platforms. During this paper, we extend on one amongst the foremost recent approximations in the literature to ensure its accuracy and applicability to a physical monopedal platform. To this finish, we tend to present systematic experiments on a well-instrumented planar monopod robot, 1st 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 twopercent and sevenp.c, 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.


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