English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surfacemoving in the inertial frame) involves complex full-order dynamics that ishigh-dimensional, nonlinear, and time-varying. Towards deriving an analyticallytractable dynamic model, this study theoretically extends the reduced-orderlinear inverted pendulum (LIP) model from legged locomotion on a stationarysurface to locomotion on a dynamic rigid surface (DRS). The resulting model isherein termed as DRS-LIP. Furthermore, this study introduces an approximateanalytical solution of the proposed DRS-LIP that is computationally efficientwith high accuracy. To illustrate the practical uses of the analytical results,they are used to develop a hierarchical planning framework that efficientlygenerates physically feasible trajectories for DRS locomotion. Theeffectiveness of the proposed theoretical results and motion planner isdemonstrated both through simulations and experimentally on a Laikagoquadrupedal robot that walks on a rocking treadmill.

DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces