SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots

Patrick Vonwirth , Atabak Nejadfard , Krzysztof Mianowski , K. Berns


Many different approaches in hard- and software have been investigated to achieve bipedal locomotion. They can be partitioned into two separate classes: Mathematical approaches, offering provable stability, and bio-inspired ones, reproducing natural observations. The paper at hand presents a new concept to overcome this separation. By generalizing several SLIP variations (Spring Loaded Inverted Pendulum), a new type of hardware abstraction, the so-called Central Mass Model (CMM), is introduced. The CMM is designed to directly support the execution of bio-inspired control approaches, while its physical simplicity still allows for mathematical proofs. A controller, implementing the CMM abstraction on a force-driven robot, is derived and described in detail for the bipedal robot Carl. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020.
Author Patrick Vonwirth
Patrick Vonwirth,,
, Atabak Nejadfard
Atabak Nejadfard,,
, Krzysztof Mianowski (FPAE / IAAM)
Krzysztof Mianowski,,
- The Institute of Aeronautics and Applied Mechanics
, K. Berns
K. Berns,,
Publication size in sheets0.5
Book Zeghloul Saïd, Laribi Med Amine, Sandoval Arevalo Juan Sebastian (eds.): Advances in Service and Industrial Robotics : results of RAAD, Mechanisms and Machine Science, vol. 84, 2020, , Springer, ISBN 978-3-030-48988-5, [978-3-030-48989-2], 609 p., DOI:10.1007/978-3-030-48989-2
Keywords in EnglishAbstracting, Biomimetics, Biped locomotion, Robots, Bipedal locomotion, Bipedal robot, Control approach, Hardware abstractions, Mass modeling, Mathematical approach, Mathematical proof, Spring loaded inverted pendulums
Languageen angielski
Score (nominal)20
Score sourcepublisherList
ScoreMinisterial score = 20.0, 21-07-2020, ChapterFromConference
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