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Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A015, August 4–7, 2013

Paper No: DETC2013-13576

DOI: https://doi.org/10.1115/DETC2013-13576

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Topics: Knee, Legged locomotion, Springs, Torque, Dynamics (Mechanics), Center of mass, Pendulums, Robots, Stability

Proceedings Papers

A Simple Model for Body Pitching Stabilization

Yuhang Che, Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A014, August 4–7, 2013

Paper No: DETC2013-13525

DOI: https://doi.org/10.1115/DETC2013-13525

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Topics: Actuators, Biology, Control equipment, Damping, Delays, Dynamics (Mechanics), Energy efficiency, Feedback, Feedforward control, Legged locomotion

Proceedings Papers

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 95-104, August 12–15, 2012

Paper No: DETC2012-70711

DOI: https://doi.org/10.1115/DETC2012-70711

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Topics: Damping, Stability, Torque, Dynamics (Mechanics), Flight, Modeling, Pendulums, Springs

Proceedings Papers

A Simple Analytical Tool for Legged Robot Design

Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 967-976, August 12–15, 2012

Paper No: DETC2012-71452

DOI: https://doi.org/10.1115/DETC2012-71452

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Topics: Design, Robots, Legged locomotion, Approximation, Computer simulation, Pendulums, Springs, Dynamics (Mechanics), Stability

Proceedings Papers

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Zhuohua Shen, Justin Seipel

Proc. ASME. SBC2011, ASME 2011 Summer Bioengineering Conference, Parts A and B, 281-282, June 22–25, 2011

Paper No: SBC2011-53973

DOI: https://doi.org/10.1115/SBC2011-53973

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Topics: Springs, Stability, Pendulums, Center of mass, Clocks, Dynamics (Mechanics), Flight, Legged locomotion, Robots

Proceedings Papers

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Zhuohua Shen, Justin Seipel

Proc. ASME. IMECE2011, Volume 7: Dynamic Systems and Control; Mechatronics and Intelligent Machines, Parts A and B, 301-306, November 11–17, 2011

Paper No: IMECE2011-65652

DOI: https://doi.org/10.1115/IMECE2011-65652

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Topics: Springs, Stability, Pendulums, Center of mass, Clocks, Dynamics (Mechanics), Energy conservation, Legged locomotion

Journal citation

NARROW

A Piecewise-Linear Approximation of the Canonical Spring-Loaded Inverted Pendulum Model of Legged Locomotion

A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability

Design of Elastic Element and Controller Algorithm

Comparison of Hip Torque and Radial Forcing Effects on Locomotion Stability and Energetics

Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied

A Simple Model for Body Pitching Stabilization

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

A Simple Analytical Tool for Legged Robot Design

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

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