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A Generalized Spring-Loaded Inverted Pendulum Model for Legged Robots

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Advances in Nonlinear Dynamics

Part of the book series: NODYCON Conference Proceedings Series ((NCPS))

Abstract

In this chapter, an articulated/generalized spring-loaded inverted pendulum (GSLIP) model is proposed firstly. Secondly, the analytical approximation of the proposed GSLIP model is addressed through the method of perturbation. Thirdly, the prediction performances of approximations of the proposed GSLIP model are discussed. Finally, comparative simulations show that the GSLIP model would achieve better prediction performance than the classical spring-loaded inverted pendulum (SLIP) model.

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Acknowledgements

This work is supported by Beijing Natural Science Foundation (3204051), Fundamental Research Funds for the Central Universities (2019JBM051), and Science and Technology Research Project of China Railway Corporation (P2018G047).

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Authors and Affiliations

  1. Robotics Research Center, Beijing Jiaotong University, Beijing, China

    Guangrong Chen, Sheng Guo & Huafeng Lu

  2. Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention, Beijing, China

    Bowen Hou

  3. State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China

    Junzheng Wang

Authors
  1. Guangrong Chen
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  2. Sheng Guo
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  3. Bowen Hou
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  4. Junzheng Wang
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  5. Huafeng Lu
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Corresponding author

Correspondence to Guangrong Chen .

Editor information

Editors and Affiliations

  1. Department of Structural and Geotechnical Engineering, Sapienza University of Rome, Rome, Italy

    Walter Lacarbonara

  2. Department of Mechanical Engineering, University of Maryland, College Park, MD, USA

    Balakumar Balachandran

  3. Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA

    Michael J. Leamy

  4. Department of Physics, Lanzhou University of Technology, Lanzhou, Gansu, China

    Jun Ma

  5. ISEP-Institute of Engineering, Polytechnic of Porto, Porto, Portugal

    J. A. Tenreiro Machado

  6. Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest, Hungary

    Gabor Stepan

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Chen, G., Guo, S., Hou, B., Wang, J., Lu, H. (2022). A Generalized Spring-Loaded Inverted Pendulum Model for Legged Robots. In: Lacarbonara, W., Balachandran, B., Leamy, M.J., Ma, J., Tenreiro Machado, J.A., Stepan, G. (eds) Advances in Nonlinear Dynamics. NODYCON Conference Proceedings Series. Springer, Cham. https://doi.org/10.1007/978-3-030-81166-2_45

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  • DOI: https://doi.org/10.1007/978-3-030-81166-2_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-81165-5

  • Online ISBN: 978-3-030-81166-2

  • eBook Packages: EngineeringEngineering (R0)

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