The spring loaded inverted pendulum model has been shown to accurately model sagittal plane locomotion for a variety of legged animals and has been used as a target for control for higher dimensional robotic implementations. Tuned appropriately, the model exhibits passively stable periodic gaits using either fixed leg touch-down angle or swing-leg retraction leg touch-down protocols. In this work, we examine the performance of the model when model parameters are set to values characteristic of an insect, in particular the cockroach Blaberus discoidalis. While body motions and forces exhibited during a stride are shown to compare well with those observed experimentally, almost all of the resulting periodic gaits are unstable. We therefore develop and analyze a simple adaptive control scheme that improves periodic gait stability properties. Since it is unlikely that neural reflexes can act quickly enough during a stride to effect control, control is applied once per stance phase through appropriate choice of the leg touch-down angle. The control law developed is novel since it achieves gait stabilization solely through a judicious combination of leg lift-off and touch-down angles, instead of utilizing all of the system positions and velocities in full-state feedback control. Implementing the control law improves the stability properties of a large number of periodic gaits and enables movement between stable periodic gaits by changing a single parameter.
Skip Nav Destination
e-mail: schmitjo@engr.orst.edu
Article navigation
October 2006
Research Papers
A Simple Stabilizing Control for Sagittal Plane Locomotion
John Schmitt
John Schmitt
Department of Mechanical Engineering,
e-mail: schmitjo@engr.orst.edu
Oregon State University
, Corvallis, OR 97331
Search for other works by this author on:
John Schmitt
Department of Mechanical Engineering,
Oregon State University
, Corvallis, OR 97331e-mail: schmitjo@engr.orst.edu
J. Comput. Nonlinear Dynam. Oct 2006, 1(4): 348-357 (10 pages)
Published Online: May 10, 2006
Article history
Received:
November 15, 2005
Revised:
May 10, 2006
Citation
Schmitt, J. (May 10, 2006). "A Simple Stabilizing Control for Sagittal Plane Locomotion." ASME. J. Comput. Nonlinear Dynam. October 2006; 1(4): 348–357. https://doi.org/10.1115/1.2338650
Download citation file:
Get Email Alerts
A numerical study for nonlinear time-space fractional reaction-diffusion model of fourth-order
J. Comput. Nonlinear Dynam
A Fast Chebyshev Collocation Method for Stability Analysis of a Robotic Machining System with Time Delay
J. Comput. Nonlinear Dynam
Characterization of Three-Mode Combination Internal Resonances in Electrostatically Actuated Flexible–Flexible Microbeams
J. Comput. Nonlinear Dynam (December 2024)
Investigation of nonlinear dynamic behaviors of vertical rotor system supported by aerostatic bearings
J. Comput. Nonlinear Dynam
Related Articles
A Piecewise-Linear Approximation of the Canonical Spring-Loaded Inverted Pendulum Model of Legged Locomotion
J. Comput. Nonlinear Dynam (January,2016)
An Approach to Identify Joint Motions for Dynamically Stable Walking
J. Mech. Des (May,2006)
Virtual Slope Control of a Forward Dynamic Bipedal Walker
J Biomech Eng (February,2005)
Related Proceedings Papers
Related Chapters
Accommodation and Stability of Alloying Elements in Amorphous Grain Boundaries of Zirconia
Zirconium in the Nuclear Industry: 20th International Symposium
Stable Analysis on Speed Adaptive Observer in Low Speed Operation
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
Stability of a C-type Impact Machine Between Calibrations
Pendulum Impact Testing: A Century of Progress