2017
Realizing natural springy motion of a robotic leg by cancelling the undesired damping factors
ICRA 2017poster
A Spring-Loaded-Inverted Pendulum (SLIP) model has been applied to many legged robots, such as quadruped robots, for realizing trotting, bounding, and galloping motions. The indecipherable damping factors, however, hindered the implementation of the SLIP model in practice. In this paper, a control a…