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simmediumquadrupedmetric · varies
Stable and Robust SLIP Model Control via Energy Conservation-Based Feedback Cancellation for Quadrupedal Applications
Description
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion characteristic of running gaits observed in various biological quadrupeds and bio-inspired robotic systems. The model permits leg-orientation control during flight and leg-length control during stance, a design choice inspired by natural quadruped behaviors an