Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg
Anna Sesselmann,Florian Loeffl,Cosimo Della Santina,Maximo A. Roa,Alin Albu-Schäffer,Anna Sesselmann,Florian Loeffl,Cosimo Della Santina,Maximo A. Roa,Alin Albu-Schäffer
Robotic legs often lag behind the performance of their biological counterparts. The inherent passive dynamics of natural legs largely influences the locomotion and can be abstracted through the spring-loaded inverted pendulum (SLIP) model. This model is often approximated in physical robotic legs using a leg with minimal mass. Our work aims to embed the SLIP dynamics by using a nonlinear strict os...
