Baofeng Yuan

Planar hopping control strategy for tail-actuated SLIP model traversing varied terrains

Biologically inspired by the hopping performance of kangaroo, this paper extends the traditional Spring-loaded Inverted Pendulum (SLIP) model by adding an actuation at hip to composite a tail-actuated SLIP (TSLIP) model as an abstract template for gait controller design. To deal with the intrinsic n…