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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ASME 2018 International Mechanical Engineering Congress and Exposition
November 9–15, 2018
Pittsburgh, Pennsylvania, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5204-0
PROCEEDINGS PAPER
A Simple Spring-Loaded Inverted Pendulum (SLIP) Model of a Bio-Inspired Quadrupedal Robot Over Compliant Terrains Available to Purchase
Hasti Hayati,
Hasti Hayati
University of Technology Sydney, Sydney, Australia
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Paul Walker,
Paul Walker
University of Technology Sydney, Sydney, Australia
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Terry Brown,
Terry Brown
University of Technology Sydney, Sydney, Australia
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Paul Kennedy,
Paul Kennedy
University of Technology Sydney, Sydney, Australia
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David Eager
David Eager
University of Technology Sydney, Sydney, Australia
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Hasti Hayati
University of Technology Sydney, Sydney, Australia
Paul Walker
University of Technology Sydney, Sydney, Australia
Terry Brown
University of Technology Sydney, Sydney, Australia
Paul Kennedy
University of Technology Sydney, Sydney, Australia
David Eager
University of Technology Sydney, Sydney, Australia
Paper No:
IMECE2018-87134, V04BT06A052; 7 pages
Published Online:
January 15, 2019
Citation
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." Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition. Volume 4B: Dynamics, Vibration, and Control. Pittsburgh, Pennsylvania, USA. November 9–15, 2018. V04BT06A052. ASME. https://doi.org/10.1115/IMECE2018-87134
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