SLIP with swing leg augmentation as a model for running

摘要: Swing leg adjustment, repulsive function and balance are key elements in the control of bipedal locomotion. In simple gait models like spring-loaded inverted pendulum (SLIP), swing can be applied to achieve stable running. The aim this study is investigate ability motion for stabilizing running reproducing a desired (human like) pattern. employed model consists two sub-models: SLIP stance phase based phase. It shown that with changing length at each step, gaits widely different performances achieved. body vertical speed take off utilized as feedback information tune parameter. particular, effect adjustment on characteristics horizontal speed, apex height stabilized system energy will investigated. With method features human e.g. retraction reproduced. Higher speeds correspond larger angular which agreement experimental results previous studies. presented also explains swing-leg stance-leg interaction mechanism was not addressed underlying model. This conceptual considered functional mechanical template legged locomotion used build more complex models, having segmented legs or an upper body.