Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251459
H. Karaoğuz, H. I. Bozma
Topological place recognition is related to the retrieval of previously learned places from long-term memory. In this paper, we consider this problem and present a novel approach - based on the previously proposed bubble descriptor semantic tree (BDST) memory model. In the proposed approach, the robot combines decision-making at each searched node of the BDST along with a BDST traversal strategy in order to find the most related previous knowledge. In case the robot is kidnapped or has no knowledge of where it is coming from, the traversal uses top-down depth-first search. If the robot has been navigating and knows where it is coming from, it uses this knowledge to initiate its search in an integrated bottom-up and top-down manner. The experimental results indicate that the proposed approach generally improves recognition performance significantly in comparison to purely top-down traversal.
{"title":"Topological place recognition based on long-term memory retrieval","authors":"H. Karaoğuz, H. I. Bozma","doi":"10.1109/ICAR.2015.7251459","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251459","url":null,"abstract":"Topological place recognition is related to the retrieval of previously learned places from long-term memory. In this paper, we consider this problem and present a novel approach - based on the previously proposed bubble descriptor semantic tree (BDST) memory model. In the proposed approach, the robot combines decision-making at each searched node of the BDST along with a BDST traversal strategy in order to find the most related previous knowledge. In case the robot is kidnapped or has no knowledge of where it is coming from, the traversal uses top-down depth-first search. If the robot has been navigating and knows where it is coming from, it uses this knowledge to initiate its search in an integrated bottom-up and top-down manner. The experimental results indicate that the proposed approach generally improves recognition performance significantly in comparison to purely top-down traversal.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124882754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251470
D. Sinyukov, T. Padır
Motorized wheelchairs are systems with changing parameters: rolling friction which depends on the ground surface, center of gravity and even the total mass of the system may vary. This affects the performance of PID controllers normally used for wheelchair velocity control. This paper presents an adaptive controller with online parameter estimation for the motion control of a semi-autonomous robotic wheelchair platform. The proposed controller accepts a second-order trajectory as an input rather then the desired velocity at each moment in time. Mathematical and computer models are developed for the wheelchair and the controller. Four simulation experiments with different initial conditions are demonstrated and analyzed in this work based on a custom developed MATLAB/Simulink® framework for wheelchair dynamic modeling and visualization. Advantages and limitations of the proposed approach are discussed.
{"title":"Adaptive motion control for a differentially driven semi-autonomous wheelchair platform","authors":"D. Sinyukov, T. Padır","doi":"10.1109/ICAR.2015.7251470","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251470","url":null,"abstract":"Motorized wheelchairs are systems with changing parameters: rolling friction which depends on the ground surface, center of gravity and even the total mass of the system may vary. This affects the performance of PID controllers normally used for wheelchair velocity control. This paper presents an adaptive controller with online parameter estimation for the motion control of a semi-autonomous robotic wheelchair platform. The proposed controller accepts a second-order trajectory as an input rather then the desired velocity at each moment in time. Mathematical and computer models are developed for the wheelchair and the controller. Four simulation experiments with different initial conditions are demonstrated and analyzed in this work based on a custom developed MATLAB/Simulink® framework for wheelchair dynamic modeling and visualization. Advantages and limitations of the proposed approach are discussed.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116410314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251453
P. Long, W. Khalil, P. Martinet
In this paper a method of calculating the inverse and direct dynamic model of cooperative manipulators handling flexible objects is presented. In order to solve the dynamics of this system, the closed chain is divided into two subsystems, one is flexible, representing the object and the other is rigid, representing the tree structure of the two manipulators. The two subsystems are connected by calculating the wrench transmitted by the end effectors. An analytic solution is obtained for the dynamic model. The proposed solution leads to a classification of objects grasped by multiple manipulators.
{"title":"Dynamic modeling of cooperative robots holding flexible objects","authors":"P. Long, W. Khalil, P. Martinet","doi":"10.1109/ICAR.2015.7251453","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251453","url":null,"abstract":"In this paper a method of calculating the inverse and direct dynamic model of cooperative manipulators handling flexible objects is presented. In order to solve the dynamics of this system, the closed chain is divided into two subsystems, one is flexible, representing the object and the other is rigid, representing the tree structure of the two manipulators. The two subsystems are connected by calculating the wrench transmitted by the end effectors. An analytic solution is obtained for the dynamic model. The proposed solution leads to a classification of objects grasped by multiple manipulators.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129358568","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251525
C. Koc, Sanem Sariel
In an agent system that needs to operate in a real world, the problem of maintaining a consistent world model in the face of unreliable, incomplete and inconsistent sensory data should be solved. In this paper, we present an approach that addresses this problem by applying an argumentation-based scene interpretation framework for accurately modelling and representing the observations and beliefs of an agent. Our approach is based on temporal and probabilistic defeasible logic programming for reasoning. The performance of our approach is evaluated on simulation experiments in the Stage Robot Simulator. We also show that our approach is applicable to real world scenarios with an autonomous Pioneer 3-AT robot.
{"title":"Argumentation-based scene interpretation using defeasible logic programming","authors":"C. Koc, Sanem Sariel","doi":"10.1109/ICAR.2015.7251525","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251525","url":null,"abstract":"In an agent system that needs to operate in a real world, the problem of maintaining a consistent world model in the face of unreliable, incomplete and inconsistent sensory data should be solved. In this paper, we present an approach that addresses this problem by applying an argumentation-based scene interpretation framework for accurately modelling and representing the observations and beliefs of an agent. Our approach is based on temporal and probabilistic defeasible logic programming for reasoning. The performance of our approach is evaluated on simulation experiments in the Stage Robot Simulator. We also show that our approach is applicable to real world scenarios with an autonomous Pioneer 3-AT robot.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132571982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251427
Hasan İhsan Turhan
In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.
{"title":"Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro","authors":"Hasan İhsan Turhan","doi":"10.1109/ICAR.2015.7251427","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251427","url":null,"abstract":"In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121353684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251484
Parijat Deshpande, V. R. Reddy, Arindam Saha, Karthikeyan Vaiapury, K. Dewangan, R. Dasgupta
Robotic platforms are becoming increasingly important and have their utility and cost completely justified during missions which require substituting humans. In this paper, we present our ongoing work in developing a multi-sensor robotic platform intended for deploying in an indoor environment in hazardous situations. The prime objective of such portable robots will be to conduct surveillance missions and provide a perception of its surroundings to the human-in-loop to ascertain the uncertain environment. Therefore, the robotic platform needs to be equipped with various sensors to create 3D visual maps of its surroundings. However, given the compact size and hazardous nature of the missions expensive LIDAR equipment may not be always suitable. We propose developing an integrated platform comprising of low cost optical cameras, acoustic localization via microphones and low cost alternatives are explored albeit with limited functionality and ultrasonic acoustic imaging arrays and augmenting these 3D maps with thermal imagery data. The aim of such a system will be to perform well even in dark and smoky environments via active ultrasonic imaging. A decision support system will equip the robot with the ability to prioritize appropriate sensors depending on the scenario. The choice of various proprioceptive and exteroceptive sensors are based on their significantly lower price tag as compared to the systems available in the market. This robotic platform will serve as a test-bed for performing various complex tasks such as discovering occluded objects, improved perception in dark and smoky environments as well as thermal source detection.
{"title":"A next generation mobile robot with multi-mode sense of 3D perception","authors":"Parijat Deshpande, V. R. Reddy, Arindam Saha, Karthikeyan Vaiapury, K. Dewangan, R. Dasgupta","doi":"10.1109/ICAR.2015.7251484","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251484","url":null,"abstract":"Robotic platforms are becoming increasingly important and have their utility and cost completely justified during missions which require substituting humans. In this paper, we present our ongoing work in developing a multi-sensor robotic platform intended for deploying in an indoor environment in hazardous situations. The prime objective of such portable robots will be to conduct surveillance missions and provide a perception of its surroundings to the human-in-loop to ascertain the uncertain environment. Therefore, the robotic platform needs to be equipped with various sensors to create 3D visual maps of its surroundings. However, given the compact size and hazardous nature of the missions expensive LIDAR equipment may not be always suitable. We propose developing an integrated platform comprising of low cost optical cameras, acoustic localization via microphones and low cost alternatives are explored albeit with limited functionality and ultrasonic acoustic imaging arrays and augmenting these 3D maps with thermal imagery data. The aim of such a system will be to perform well even in dark and smoky environments via active ultrasonic imaging. A decision support system will equip the robot with the ability to prioritize appropriate sensors depending on the scenario. The choice of various proprioceptive and exteroceptive sensors are based on their significantly lower price tag as compared to the systems available in the market. This robotic platform will serve as a test-bed for performing various complex tasks such as discovering occluded objects, improved perception in dark and smoky environments as well as thermal source detection.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124274868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251475
Velin D. Dimitrov, Vinayak Jagtap, Mitchell Wills, Jeanine Skorinko, T. Padır
We present a cyber-physical system (CPS) testbed to enable the rapid development, testing, and deployment of assistive robotics technologies in the home of elderly individuals. We built a CPS testbed in a lab environment with initial capabilities allowing for the testing of both individual systems and collections of systems. The CPS testbed has communication, computation, sensing, and control resources available that can be leveraged by individual subsystems within the CPS. We present projects built by different design teams to be integrated in the CPS environment to help the elderly live independent lives and age in place. Finally, we describe a case study for the use of a mobile robot within the CPS to detect and respond in case an elderly person falls at home.
{"title":"A cyber physical system testbed for assistive robotics technologies in the home","authors":"Velin D. Dimitrov, Vinayak Jagtap, Mitchell Wills, Jeanine Skorinko, T. Padır","doi":"10.1109/ICAR.2015.7251475","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251475","url":null,"abstract":"We present a cyber-physical system (CPS) testbed to enable the rapid development, testing, and deployment of assistive robotics technologies in the home of elderly individuals. We built a CPS testbed in a lab environment with initial capabilities allowing for the testing of both individual systems and collections of systems. The CPS testbed has communication, computation, sensing, and control resources available that can be leveraged by individual subsystems within the CPS. We present projects built by different design teams to be integrated in the CPS environment to help the elderly live independent lives and age in place. Finally, we describe a case study for the use of a mobile robot within the CPS to detect and respond in case an elderly person falls at home.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124328722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-27DOI: 10.1109/ICAR.2015.7251493
Ekin Basalp, K. Hara, H. Yamaura, D. Matsuura, Y. Takeda
In a previous study, a gait assistive device embodying actuators, known as Walking Assist Machine Using Crutches (WAMC), was proposed for people who suffer from lower limb disabilities. Experiments with healthy subjects show that WAMC can provide upright stance position and assisted forward gait to the user. However, the simplistic kinetostatic model used in gait analysis does not permit to obtain forces and torques acting on the system (user and WAMC) in detail. In this paper, an anthropometric 2D model which can investigate the gait characteristics of the system is proposed. Force and torques acting on the system parts can be guessed prior to the experiments if the user's height and weight are specified. This will also help increasing the consistency between the dynamic simulation results and the input parameters required for experiments. Results of the gait analysis show that the model can successfully reproduce the kinematics of the system joints derived from experiments. In addition, it is shown by dynamics analysis that WAMC provides a comfortable ride as the forces and torques acting on the system are in admissible limits.
{"title":"Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis","authors":"Ekin Basalp, K. Hara, H. Yamaura, D. Matsuura, Y. Takeda","doi":"10.1109/ICAR.2015.7251493","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251493","url":null,"abstract":"In a previous study, a gait assistive device embodying actuators, known as Walking Assist Machine Using Crutches (WAMC), was proposed for people who suffer from lower limb disabilities. Experiments with healthy subjects show that WAMC can provide upright stance position and assisted forward gait to the user. However, the simplistic kinetostatic model used in gait analysis does not permit to obtain forces and torques acting on the system (user and WAMC) in detail. In this paper, an anthropometric 2D model which can investigate the gait characteristics of the system is proposed. Force and torques acting on the system parts can be guessed prior to the experiments if the user's height and weight are specified. This will also help increasing the consistency between the dynamic simulation results and the input parameters required for experiments. Results of the gait analysis show that the model can successfully reproduce the kinematics of the system joints derived from experiments. In addition, it is shown by dynamics analysis that WAMC provides a comfortable ride as the forces and torques acting on the system are in admissible limits.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133881901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-07-01DOI: 10.1109/ICAR.2015.7251443
Tolga Karakurt, Akif Durdu, E. H. Dursun
A legged robot inspired by spider is needed to access to survivor in search and rescue operations. This paper proposes to control system is based on petri net for six legged spider robot which is used for search and rescue operations. The robotic system is tested by using different walking algorithms. Control of the robot is provided by communication ports on computer. The performance of the robot is calculated entirely, as depending on the movement of six legs on rough terrain. Functional algorithms are created to be moved the robot flexible under difficult conditions such as rough terrain, pit. Also, these algorithms which provide moving of robot at various speeds according to structure of legs are presented. The robot controlled in the project is named as TKSPIDER1 and each leg of it has three servo motors.
{"title":"Petri-net based control of six legged spider robot","authors":"Tolga Karakurt, Akif Durdu, E. H. Dursun","doi":"10.1109/ICAR.2015.7251443","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251443","url":null,"abstract":"A legged robot inspired by spider is needed to access to survivor in search and rescue operations. This paper proposes to control system is based on petri net for six legged spider robot which is used for search and rescue operations. The robotic system is tested by using different walking algorithms. Control of the robot is provided by communication ports on computer. The performance of the robot is calculated entirely, as depending on the movement of six legs on rough terrain. Functional algorithms are created to be moved the robot flexible under difficult conditions such as rough terrain, pit. Also, these algorithms which provide moving of robot at various speeds according to structure of legs are presented. The robot controlled in the project is named as TKSPIDER1 and each leg of it has three servo motors.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114975549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-06-05DOI: 10.1109/ICAR.2015.7251440
H. E. Orhon, Caner Odabaş, Ismail Uyanik, Ö. Morgül, U. Saranlı
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies solved this problem by adding an actively controllable torque actuation at the hip joint and this actuation has been successively used in many robotic platforms, such as the popular RHex robot. However, hip torque actuation produces forces on the COM dominantly at forward direction with respect to ground, making height control challenging especially at slow speeds. The situation becomes more severe when the horizontal speed of the robot reaches zero, i.e. steady hoping without moving in horizontal direction, and the system reaches to singularity in which vertical degrees of freedom is completely lost. To this end, we propose an extension of the lossy SLIP model with a slider-crank mechanism, SLIP-SCM, that can generate a stable limit-cycle when the body is constrained to vertical direction. We propose an approximate analytical solution to the nonlinear system dynamics of SLIP-SCM model to characterize its behavior during the locomotion. Finally, we perform a fixed-point stability analysis on SLIP-SCM model using our approximate analytical solution and show that proposed model exhibits stable behavior in our range of interest.
{"title":"Extending the lossy Spring-Loaded Inverted Pendulum model with a slider-crank mechanism","authors":"H. E. Orhon, Caner Odabaş, Ismail Uyanik, Ö. Morgül, U. Saranlı","doi":"10.1109/ICAR.2015.7251440","DOIUrl":"https://doi.org/10.1109/ICAR.2015.7251440","url":null,"abstract":"Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical systems resulted in newer models which are extended versions of original SLIP with viscous damping in the leg. However, such lossy models require an additional mechanism for pumping energy to the system to control the locomotion and to reach a limit-cycle. Some studies solved this problem by adding an actively controllable torque actuation at the hip joint and this actuation has been successively used in many robotic platforms, such as the popular RHex robot. However, hip torque actuation produces forces on the COM dominantly at forward direction with respect to ground, making height control challenging especially at slow speeds. The situation becomes more severe when the horizontal speed of the robot reaches zero, i.e. steady hoping without moving in horizontal direction, and the system reaches to singularity in which vertical degrees of freedom is completely lost. To this end, we propose an extension of the lossy SLIP model with a slider-crank mechanism, SLIP-SCM, that can generate a stable limit-cycle when the body is constrained to vertical direction. We propose an approximate analytical solution to the nonlinear system dynamics of SLIP-SCM model to characterize its behavior during the locomotion. Finally, we perform a fixed-point stability analysis on SLIP-SCM model using our approximate analytical solution and show that proposed model exhibits stable behavior in our range of interest.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125549284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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