Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

作     者：Haitao Yu Mantian Li Pengfei Wang Hegao Cai Haitao Yu;Mantian Li;Pengfei Wang;Hegao Cai

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150080P.R.China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2012年第9卷第4期

页      面：411-422页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 080101[工学-一般力学与力学基础] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：National Hi-tech Research and Development Program of China (863 Program National Natural Science Foundation of China Self-Planned Task of State Key Laboratory of Robotics and System Harbin Institute of Technology 

主　　题：legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment 

摘      要：This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.