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Author/Affiliation: Mustafa Melih PelitOpen AccessArticle
8 Pages, 1,091 KB 
SLIP-SL: Walking Control Based on an Extended SLIP Model with Swing Leg Dynamics
Abstract:
This paper details an extension to the SLIP model named spring-loaded inverted pendulum model with swing legs (SLIP-SL). SLIP-SL extends the SLIP model by introducing swing leg dynamics while keeping its passive nature. This way, reference trajectories for the center of mass and swing foot trajectories can be simultaneously obtained which was not possible with…
Read More(This article belongs to the SP10 (Special Issue on Multidisciplinary Sciences and Engineering 2020-21) & Section Robotics (ROB))