TY - GEN
T1 - Approximating the stance map of a SLIP Monopod
T2 - 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
AU - Yu, Haitao
AU - Li, Mantian
AU - Cai, Hegao
PY - 2011
Y1 - 2011
N2 - In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. The perturbation solution achieves higher accuracy in predicting the apex trajectory and stance locomotion by comparing with other existing analytic approximations. Particularly, our solution is validated for non-symmetric case in a large angle range. Additionally, the approximate apex return map is established, of which the fixed point stability is analyzed base on the approximations.
AB - In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. The perturbation solution achieves higher accuracy in predicting the apex trajectory and stance locomotion by comparing with other existing analytic approximations. Particularly, our solution is validated for non-symmetric case in a large angle range. Additionally, the approximate apex return map is established, of which the fixed point stability is analyzed base on the approximations.
UR - https://www.scopus.com/pages/publications/82955228042
U2 - 10.1109/RAMECH.2011.6070481
DO - 10.1109/RAMECH.2011.6070481
M3 - 会议稿件
AN - SCOPUS:82955228042
SN - 9781612842509
T3 - IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings
SP - 196
EP - 201
BT - Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011
Y2 - 17 September 2011 through 19 September 2011
ER -