Leg mechanism design for SLIP model of hydraulic quadruped robot

The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accuratel...

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Bibliographic Details
Published in2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 461 - 466
Main Authors Jaehong Seo, Jungsan Cho, Byung-Yun Park, Jinhyun Kim, Sangdeok Park
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2014
Subjects
Actuators
Hip
Joints
Legged locomotion
Mechanism design
Quadruped robot
Robot sensing systems
SLIP
Springs
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Summary:The Spring Loaded Inverted Pendulum (SLIP) describes the dynamic walking of humans and animals in a simplified manner. However, realizing such movements by means of a combination of typical articulated legs and linear actuators has some limitations. This paper proposes a leg mechanism that accurately reflects the SLIP based on its mechanical constitution. The SLIP design based leg is able to do decoupled swing motion and extension motion. Also this study has focused on improving the straightness of extension motion.
DOI:10.1109/URAI.2014.7057457