Running Robot Utilizing Pelvic Movement – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

Running Robot Utilizing Pelvic Movement

This is a SLIP (Spring Loaded Inverted Pendulum) model based on human running gait analysis. The model is composed of a rigid body mass, a hip joint, a leg spring model, and a contact model with the ground. Additionally, the model includes running velocity control to provide the leg with stability. The simulation shows the leg hopping then moving forward in a running motion as the body mass is supported by the robotic leg.

This model was developed by researchers at the Takanishi Laboratory of Waseda University.

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Model: Running Robot Utilizing Pelvic Movement

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Model Images
  • model image The model schematic of the system
  • results Simulation results
  • 3d Animation of the simulation result
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