A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot.

@article{Huang2014ASR,
  title={A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot.},
  author={Ke-Jung Huang and Chun-Kai Huang and Pei-Chun Lin},
  journal={Bioinspiration & biomimetics},
  year={2014},
  volume={9 4},
  pages={
          046004
        }
}
We report on the development of a robot's dynamic locomotion based on a template which fits the robot's natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large… CONTINUE READING
BETA

Similar Papers

Citations

Publications citing this paper.
SHOWING 1-10 OF 23 CITATIONS

Clock-Torqued Rolling SLIP Model and Its Application to Variable-Speed Running in a Hexapod Robot

  • IEEE Transactions on Robotics
  • 2018
VIEW 7 EXCERPTS
CITES METHODS, BACKGROUND & RESULTS
HIGHLY INFLUENCED

Dynamic Motion Generation in a Hexapod Robot Using Fixed-point Trajectories of a Simple Model with Period Scaling

  • 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
  • 2018
VIEW 5 EXCERPTS
CITES RESULTS, METHODS & BACKGROUND
HIGHLY INFLUENCED

A torsional MRE joint for a C-shaped robotic leg

VIEW 5 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Model-based bounding on a quadruped robot

  • 2016 IEEE International Conference on Robotics and Automation (ICRA)
  • 2016
VIEW 7 EXCERPTS
CITES BACKGROUND, RESULTS & METHODS
HIGHLY INFLUENCED

Asymmetric stability property of a sagittal-plane model with a compliant leg and Rolling contact

  • 2015 International Conference on Advanced Robotics (ICAR)
  • 2015
VIEW 5 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Model-based dynamic gait in a quadruped robot with waist actuation

  • 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2016
VIEW 3 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

Model-Based Development of Leaping in a Hexapod Robot

  • IEEE Transactions on Robotics
  • 2015
VIEW 7 EXCERPTS
CITES BACKGROUND & METHODS
HIGHLY INFLUENCED

References

Publications referenced by this paper.
SHOWING 1-10 OF 51 REFERENCES

Toward a vocabulary of legged leaping

  • 2013 IEEE International Conference on Robotics and Automation
  • 2013
VIEW 1 EXCERPT

A bio - inspired singlemotor - driven hexapod robot with dynamical gaits IEEE / ASME Int

J HuangK, C ChenS, C LinP
  • Biomim .
  • 2012

A bio-inspired singlemotor-driven hexapod robot with dynamical gaits IEEE

K JHuang, S CChen, P CLin
  • ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM) 20 Bioinspir. Biomim
  • 2012
VIEW 2 EXCERPTS

A dynamic model of running with a half-circular compliant leg

M MAnkaralı
  • Int. Conf. on Climbing and Walking Robots (CLAWAR)
  • 2012
VIEW 1 EXCERPT

A et al 2012 A bioinspired dynamical vertical climbing robot

G Lynch
  • Int. J. Robot. Res
  • 2012
VIEW 1 EXCERPT

A reduced-order dynamical model for running with curved legs

  • 2012 IEEE International Conference on Robotics and Automation
  • 2012
VIEW 1 EXCERPT

A reducedorder dynamical model for running with curved legs IEEE Int

Y JunJ, E ClarkJ
  • 2012