Stable running with a two-segment compliant leg | Intelligent Service Robotics Skip to main content
Springer Nature Link
Log in

Stable running with a two-segment compliant leg

  • Original Research Paper
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

This research presents a two-segment compliant leg model for understanding fast running locomotion of animals and extending to quadruped robot later. We introduce an approach toward a full understanding of the model by investigating the energy of the system and constructing a set of data, called Limit Cycle Set. The set is computed via optimization procedures and includes all the configurations of the model that contribute to its periodic, stable running locomotion. By introducing the creative design of the configurations, the two-segment compliant model is sufficiently general to be extended to other similar two-segment leg models. Along with the computation, we investigate the system stability and discover that it is possible to achieve stability of a compliant leg in real environments with a simple control strategy. The stable motion is successfully validated in real experiments.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Blickhan R (1989) The spring-mass model for running and hopping. J Biomech 22:1217–1227

    Article  Google Scholar 

  2. Seyfarth A, Geyer H, Gnther M, Blickhan R (2002) A movement criterion for running. J Biomech 35(5):649–655

    Article  Google Scholar 

  3. Schwind WJ, Koditschekt DE (1997) Characterization of monoped equilibrium gaits. In: Proceedings IEEE international conference on robotics and automation, pp. 1986–1992

  4. Cavagna GA, Saibene FP, Margaria R (1964) Mechanical work in running. J Appl Physiol 19(2):249–256

    Google Scholar 

  5. Alexander RM (1990) Optimum take-off techniques for high and long jumps. Philos Transact Biol Sci 329(1252):3–10

    Article  Google Scholar 

  6. Geyer H, Seyfarth A, Blickhan R (2003) Positive force feedback in bouncing gaits. Proc Biol Sci B 270(1529):2173–2183

    Article  Google Scholar 

  7. Shen ZH, Seipel JE (2012) A fundamental mechanism of legged locomotion with hip torque and leg damping. Bioinspir Biomim 7(4):046–061

    Article  Google Scholar 

  8. Blum Y, Lipfert SW, Rummel J, Seyfarth a (2010) Swing leg control in human running. Bioinspir Biomim 5(2):026–037

    Article  Google Scholar 

  9. Schmitt J (2006) A simple stabilizing control for sagittal plane locomotion. J Comput Nonlinear Dyn 1(4):348–375

    Article  Google Scholar 

  10. Altendorfer R, Koditschek D, Holmes P (2004) Stability analysis of legged locomotion models by symmetry-factored return maps. Int J Robot Res 23(1011):979–999

    Article  Google Scholar 

  11. Zhang ZG, Fukuokat Y, Kirnurat H (2004) Stable quadrupedal running based on a spring-loaded two-segment legged model. Proc IEEE Int Conf Robot Autom 3:2601–2606

    Google Scholar 

  12. Iida F, Minekawa Y, Rummel J, Seyfarth A (2007) Toward a human-like biped robot with compliant legs. Robot Auton Syst 57(2):139–144

    Article  Google Scholar 

  13. Seyfarth A, Günther M, Blickhan R (2001) Stable operation of an elastic three-segment leg. Biol Cybern 84(5):365–382

    Article  MATH  Google Scholar 

  14. Ingen JVAN (1989) From rotation to translation: constraints on multi-Joint movements and the unique action. Hum Mov Sci 8(4):301–337

    Article  Google Scholar 

  15. Rummel J, Seyfarth A (2008) Stable running with segmented legs. Int J Robot Res 27(8):919–934

    Article  Google Scholar 

  16. Lee YH, Tran DT, Hyun J, Phan LT, Koo IM, Yang SU, Choi HR (2015) A gait transition algorithm based on hybrid walking gait for a quadruped walking robot. Intel Serv Robotics 8:185–200

    Article  Google Scholar 

  17. Baek S, Park J, Joo Y, Yim J, Choi Y (2016) Dynamic modeling and control of hopping robot in planar space. Intel Serv Robotics 9:153–161

    Article  Google Scholar 

  18. Lee DV, Meek SG (2005) Directionally compliant legs influence the intrinsic pitch behaviour of a trotting quadruped. Proc R Soc B Biol Sci 272(1563):919–934

    Article  Google Scholar 

  19. Rao SS (2009) Engineering optimization. Wiley, New York

    Book  Google Scholar 

  20. Tucker W (2002) Computing accurate Poincaré maps. Phys D 171:127–137

    Article  MathSciNet  MATH  Google Scholar 

  21. Dare WN, Erefah AZ, Ogbe PD (2013) A comparative study on thigh length to leg length ratio in adult males of two southern states in Nigeria. Eur J Appl Sci 5(4):115–117

    Google Scholar 

Download references

Acknowledgements

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2014R1A2A2A01005241).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, CheoncheonDong 300, Jangan-gu, Suwon, Gyeonggi-do, 440-746, Korea

    Luong Tin Phan, Yoon Haeng Lee, Dong Youn Kim, Hyunyong Lee & Hyouk Ryeol Choi

Authors
  1. Luong Tin Phan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yoon Haeng Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Dong Youn Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Hyunyong Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Hyouk Ryeol Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hyouk Ryeol Choi.

Electronic supplementary material

Below is the link to the electronic supplementary material.

Supplementary material 1 (mp4 6698 KB)

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Phan, L.T., Lee, Y.H., Kim, D.Y. et al. Stable running with a two-segment compliant leg. Intel Serv Robotics 10, 173–184 (2017). https://doi.org/10.1007/s11370-017-0218-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-017-0218-9

Keywords

Search

Navigation