SLIP running with an articulated robotic leg

SLIP models are generally known as one of the best and simplest abstractions describing the spring-like leg behavior found in human and animal running, and have thus been subject to exhaustive investigation. To exploit these findings in real robots, we utilize an operational space controller that projects the behavior of the SLIP model onto the dynamics of an actual segmented robotic leg. Additionally, we introduce a method to compensate for the energetic losses at the impact collisions, which are not accounted for in the simplified SLIP assumptions. This allows the direct application of existing dead-beat control strategies to arbitrary robotic legs, for which we can show that the collision and compensation effects in the actual leg enlarge the regions of stable running and reduce the minimally required locomotion speed. The necessary joint torque profiles can be generated in large part passively, for example by using high compliance series elastic actuators.