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conference paper
Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation
2011
Field Robotics
Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip actuation through Central Pattern Generators. Using this framework we present studies suggesting that compliant in contrast to rigid hip actuation and the addition of a simple feedback scheme can highly enhance the robustness of the robot locomotion against parameter changes.
Type
conference paper
Authors
Editors
Bidaud, Philippe
•
Tokhi, Mohammad O.
•
Grand, Christophe
•
Virk, Gurvinder S.
Publication date
2011
Published in
Field Robotics
Start page
790
End page
797
Peer reviewed
NON-REVIEWED
EPFL units
Event name | Event place | Event date |
Paris, France | August 2011 | |
Available on Infoscience
June 19, 2012
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