Abstract
We present a spring loaded inverted pendulum (SLIP) based robot leg to enable decoupled swing motion and spring-like behavior. The two SLIP principles (decoupled swing motion and spring-like behavior) allow an improved understanding of robot locomotion and its control. Proposed leg mechanism include one degree of freedom (DOF) straight-line generating mechanism to perform ideal spring-like behavior and the pantograph to amplify that. The spring-like behavior can be implemented using mechanical constraints with Chebyshev linkage and the virtual spring method. For applying the virtual spring method to the radial motion controlled by one actuator, the relationship between the actuator force and radial force acting on the foot end was determined by using a kinematic interpretation. A 1-DOF test bed including the suggested leg was built and tested to verify the decoupled motions. The spring-like leg behavior was demonstrated during the free fall experiment and the experiment in which external force was applied.
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Recommended by Associate Editor Pilwon Hur under the direction of Editor Won-jong Kim. This work was supported by the Industrial Strategic technology development, 10047635, Development of Hydraulic Robot Control Technology based on Accurate and Fast Force Control for Complex Tasks funded by the Ministry of Trad, Industry & Energy (MI, Korea).
Jaehong Seo received his B.Eng. degree in Mechanical Engineering from Gachon University, Korea in 2014. He is currently a Ph.D. candidate in Robotics and Virtual Engineering at University of Science & Technology and also a researcher fellow in Department of Robotics, Korea Institute of Industrial Technology. His research interests include bio-inspired robot, hydraulic
Jungyeong Kim received his B.Eng. degree in Mechanical Engineering from Konkuk University, Korea in 2012, and his M.Eng. degree in Robotics and Virtual Engineering from University of Science & Technology, Korea in 2016, where he is currently working toward a Ph.D. degree. He is also a researcher fellow in Department of Robotics, Korea Institute of Industrial Technology. His research interests include cabledriven mechanism, hydraulic manipulator, quadruped robot.
Sangshin Park received his B.Eng. and M.Eng. degrees in Electronic Engineering and Control and Embedded System from Kumoh National Institute of Technology, Korea, in 2009 and 2011, respectively. He is currently working at Department of Robotics, Korea Institute of Industrial Technology. His research interests include robot control, embedded system.
Jungsan Cho received his B.Eng. and M.Eng. degrees in Electronic Engineering from Kumoh National Institute of Technology, Korea, in 2002 and 2004, and the Ph.D. degree in Electronic Engineering from Myongji University, Korea in 2015. He is currently the Head of the Hydraulic Robot Research Laboratory at Korea Institute of Industrial Technology, and the Associate Professor at Robotics and Virtual Engineering, University of Science & Technology. His research interests include quadruped robot, hydraulic robot, hydraulic control.
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Seo, J., Kim, J., Park, S. et al. A SLIP-based Robot Leg for Decoupled Spring-like Behavior: Design and Evaluation. Int. J. Control Autom. Syst. 17, 2388–2399 (2019). https://doi.org/10.1007/s12555-018-0327-z
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DOI: https://doi.org/10.1007/s12555-018-0327-z