@inproceedings{72538cacf67d461b93895d3c15f240d0,
title = "Motion control for variable stiffness SLIP model of legged robot single leg",
abstract = "The Spring Loaded Inverted Pendulum (SLIP) model has been extensively investigated and used as an inspiration to the study of legged locomotion. Biological data suggest that legs regulate energy production and removal via adjusting muscle stiffness, therefore the classical SLIP is energetically conservative model, and cannot fully explain the robustness and flexibility of many legged animals during running and hopping gaits. In this work we extend the classical SLIP model to an active SLIP model, an energetically non-conservative model with variable stiffness spring. Additionally, we propose a control strategy to regulate the SLIP system energy to drive the system to a desired motion state. Finally, we illustrate through simulations that the variable stiffness SLIP model is applied with our proposed control strategy reveals high tracking accuracy and rapidly converges to a desired motion state.",
keywords = "Motion control, Spring Loaded Inverted Pendulum, Variable stiffness",
author = "Ta Xue and Jiangbo Zhao and Junzheng Wang",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 Chinese Automation Congress, CAC 2017 ; Conference date: 20-10-2017 Through 22-10-2017",
year = "2017",
month = dec,
day = "29",
doi = "10.1109/CAC.2017.8243611",
language = "English",
series = "Proceedings - 2017 Chinese Automation Congress, CAC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4711--4716",
booktitle = "Proceedings - 2017 Chinese Automation Congress, CAC 2017",
address = "United States",
}