4 accepted papers
Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affe…
Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by propo
Robotic legs often lag behind the performance of their biological counterparts. The inherent passive dynamics of natural legs largely influences the locomotion and can be abstracted through the spring-loaded inverted pendulum (SLIP) model. This model is often approximated in physical robotic legs us…
Simple template models have proven useful for understanding the underlying dynamics of legged locomotion. The most common one, the SLIP model, considers the legs as linear springs with constant stiffness, and it explains well the radial dynamics of the legs. However, in order to study the influence…