A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing
Keyword(s):
Recent locomotion models have demonstrated the benefits of hip torques on legged locomotion stability. Here, a simple constant radial forcing function along the leg of the Spring-Loaded Inverted Pendulum (SLIP) model is added. This model is analyzed in order to determine what effect such a radial force might have on the stability of locomotion versus the more commonly used hip-torque forcing. The model is found to be unstable for the vast majority of the parameter space studied, for any amount of added forcing and damping constants. This suggests that simple constant forcing along the leg does not produce stable locomotion, unlike the case where forcing happens via hip torque.
Keyword(s):
2016 ◽
Vol 11
(1)
◽
2022 ◽
Vol 13
(1)
◽
pp. 0-0
Keyword(s):
2010 ◽
Vol 07
(02)
◽
pp. 263-280
◽