A simple spring-loaded inverted pendulum (SLIP) model of a bio-inspired quadrupedal robot over compliant terrains

Hayati, H; Walker, P; Brown, T; Kennedy, P; Eager, D

A simple spring-loaded inverted pendulum (SLIP) model of a bio-inspired quadrupedal robot over compliant terrains

Hayati, H

Walker, P

Brown, T

Kennedy, P

Eager, D

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Publication Type:: Conference Proceeding
Citation:: ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2018, 4B-2018
Issue Date:: 2018-01-01

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Field	Value	Language
dc.contributor.author	Hayati, H https://orcid.org/0000-0002-6781-6093	en_US
dc.contributor.author	Walker, P https://orcid.org/0000-0003-3988-3966	en_US
dc.contributor.author	Brown, T https://orcid.org/0000-0002-0155-9151	en_US
dc.contributor.author	Kennedy, P https://orcid.org/0000-0001-7837-3171	en_US
dc.contributor.author	Eager, D https://orcid.org/0000-0003-1926-7867	en_US
dc.date.issued	2018-01-01	en_US
dc.identifier.citation	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 2018, 4B-2018	en_US
dc.identifier.isbn	9780791852040	en_US
dc.identifier.uri	http://hdl.handle.net/10453/133866
dc.description.abstract	Copyright © 2018 ASME. To study the impact of compliant terrains on the biomechanics of rapid legged movements, a well-known spring loaded inverted pendulum (SLIP) model is deployed. The model is a three-degrees-of-freedom system (3 DOF), inspired by galloping greyhounds competing in a racing condition. A single support phase of hind-leg stance in a galloping gait is taken into consideration due to its primary function in powering the greyhounds locomotion and higher rate of musculoskeletal injuries. To obtain and solve the nonlinear second-order differential equation of motions, the Lagrangian method and MATLABb R2017b (ode45 solver), which is based on the Runge-Kutta method, has been used, respectively. To get the viscoelastic behavior of compliant terrains, a Clegg hammer test was developed and performed five times on each sample. The effective spring and damping coefficients of each sample were then determined from the hysteresis curves. The results showed that galloping on the synthetic rubber requires more muscle force compared with wet sand. However, according to the Clegg hammer test, wet sand had a higher impact force than synthetic rubber which can be a risk factor for bone fracture, particularly hock fracture, in greyhounds. The results reported in this paper are not only useful for identifying optimum terrain properties and injury thresholds of an athletic track, but also can be used to design control methods and shock impedances for legged robots performing on compliant terrains	en_US
dc.relation.ispartof	ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)	en_US
dc.relation.isbasedon	10.1115/IMECE2018-87134	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	A simple spring-loaded inverted pendulum (SLIP) model of a bio-inspired quadrupedal robot over compliant terrains	en_US
dc.type	Conference Proceeding
utslib.citation.volume	4B-2018	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/e-Press
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Computer Science
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAI - Centre for Artificial Intelligence
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US
pubs.volume	4B-2018	en_US

Abstract:

Copyright © 2018 ASME. To study the impact of compliant terrains on the biomechanics of rapid legged movements, a well-known spring loaded inverted pendulum (SLIP) model is deployed. The model is a three-degrees-of-freedom system (3 DOF), inspired by galloping greyhounds competing in a racing condition. A single support phase of hind-leg stance in a galloping gait is taken into consideration due to its primary function in powering the greyhounds locomotion and higher rate of musculoskeletal injuries. To obtain and solve the nonlinear second-order differential equation of motions, the Lagrangian method and MATLABb R2017b (ode45 solver), which is based on the Runge-Kutta method, has been used, respectively. To get the viscoelastic behavior of compliant terrains, a Clegg hammer test was developed and performed five times on each sample. The effective spring and damping coefficients of each sample were then determined from the hysteresis curves. The results showed that galloping on the synthetic rubber requires more muscle force compared with wet sand. However, according to the Clegg hammer test, wet sand had a higher impact force than synthetic rubber which can be a risk factor for bone fracture, particularly hock fracture, in greyhounds. The results reported in this paper are not only useful for identifying optimum terrain properties and injury thresholds of an athletic track, but also can be used to design control methods and shock impedances for legged robots performing on compliant terrains

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http://hdl.handle.net/10453/133866