Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model

Masaki Kitagawa,Takayuki Tanaka,Akihiko Murai,Masaki Kitagawa,Takayuki Tanaka,Akihiko Murai

This study aims to construct a running simulator based on a motion generation and control system that enables the description of motion strategies using the spring-loaded inverted pendulum (SLIP) model. The problems of stability and robustness encountered in the running simulation with the SLIP model are elucidated, and stable running is achieved by controlling the stiffness and the attitude angle...