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The Spring Loaded Inverted Pendulum (SLIP) model has been extensively investigated and used as an inspiration to the study of legged locomotion. Biological data suggest that legs regulate energy production and removal via adjusting muscle stiffness, therefore the classical SLIP is energetically conservative model, and cannot fully explain the robustness and flexibility of many legged animals during...
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot, a new walking control method which can control body posture according to ZMP theory is put forward. The problem that robot can easily tip during trotting is solved by selecting landing points. Mechanical structure of the parallel quadruped wheel-foot...
To make robots walk smoothly and stably, it is necessary to solve ground impacts during dynamic walking. Compliance motion control can help to reduce the impacts and improve the robot's adaptability to complex terrain. Impedance control is a useful framework to provide robot's leg compliance. The conventional impedance control employs second-order mass-damping-spring system as a force disturbance...
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