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Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics

Sovukluk, Sait and Englsberger, Johannes and Ott, Christian (2023) Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics. IEEE Robotics and Automation Letters, 9 (2), pp. 1131-1138. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3342668. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10356666


Spring loaded inverted pendulum (SLIP) is a template dynamics used to model the steady-state running of humans and animals ranging from cockroaches to horses. This study extends the conventional 3D SLIP model with a foot and an active controller to also model transitioning from stationary to high-speed running and vice versa. It also compares behavioral differences between the conventional deadbeat-controlled 3D SLIP and actively controlled 3D SLIP with a foot, especially during trajectory transitioning. Focusing on humanoid robots, the objective is to enhance the system's trajectory switching and the disturbance rejection performance while keeping the trajectories implementable and forces feasible for the whole body dynamics. The results are verified on a humanoid robot Kangaroo through simulations in MuJoCo.

Item URL in elib:https://elib.dlr.de/202330/
Document Type:Article
Title:Highly Maneuverable Humanoid Running via 3D SLIP+Foot Dynamics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sovukluk, SaitTU Wienhttps://orcid.org/0000-0002-8698-8835UNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:13 December 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1131-1138
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:running, controls, spring-loaded inverted pendulum, SLIP, humanoid robot
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Jan 2024 14:57
Last Modified:23 Jan 2024 14:57

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