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Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A015, August 4–7, 2013

Paper No: DETC2013-13576

DOI: https://doi.org/10.1115/DETC2013-13576

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Topics: Knee, Legged locomotion, Springs, Torque, Dynamics (Mechanics), Center of mass, Pendulums, Robots, Stability

Proceedings Papers

Actuated Slip Model of Human Running With an Elastically-Suspended Load

Karna Potwar, Jeffrey Ackerman, Justin Seipel

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A017, August 4–7, 2013

Paper No: DETC2013-13612

DOI: https://doi.org/10.1115/DETC2013-13612

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Topics: Stress, Stiffness, Biomechanics, Design, Dynamics (Mechanics), Pendulums, Springs, Suspension systems

Proceedings Papers

A Simple Model for Body Pitching Stabilization

Yuhang Che, Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A014, August 4–7, 2013

Paper No: DETC2013-13525

DOI: https://doi.org/10.1115/DETC2013-13525

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Topics: Actuators, Biology, Control equipment, Damping, Delays, Dynamics (Mechanics), Energy efficiency, Feedback, Feedforward control, Legged locomotion

Journal Articles

Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load

Xingye Da, Jeffrey Ackerman, Justin Seipel

J. Comput. Nonlinear Dynam. April 2014, 9(2): 021006.

Paper No: CND-13-1022

DOI: https://doi.org/10.1115/1.4024778

Published Online: September 17, 2013

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Topics: Robots, Stress

Proceedings Papers

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 3: 38th Design Automation Conference, Parts A and B, 681-687, August 12–15, 2012

Paper No: DETC2012-71473

DOI: https://doi.org/10.1115/DETC2012-71473

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Topics: Modeling, Musculoskeletal system, Simulation, Dynamics (Mechanics), Center of mass, Clocks, Pendulums, Springs, Stability, Control equipment

Proceedings Papers

Energy Efficiency and Stability of a Nonlinear Coupled-Oscillator Model of Hopping With Elastically-Suspended Loads

Jeffrey Ackerman, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 1: 24th Conference on Mechanical Vibration and Noise, Parts A and B, 271-280, August 12–15, 2012

Paper No: DETC2012-71467

DOI: https://doi.org/10.1115/DETC2012-71467

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Topics: Energy efficiency, Stability, Stress, Flight, Suspension systems, Design, Legged locomotion, Robots

Proceedings Papers

Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses

Jeffrey Ackerman, Xingye Da, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1153-1159, August 12–15, 2012

Paper No: DETC2012-71401

DOI: https://doi.org/10.1115/DETC2012-71401

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Topics: Energy efficiency, Robots, Stress, Electronics, Fuels, Legged locomotion, Stiffness, Suspension systems

Proceedings Papers

Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control

Dominik Budday, Fabian Bauer, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 859-866, August 12–15, 2012

Paper No: DETC2012-71154

DOI: https://doi.org/10.1115/DETC2012-71154

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Topics: Robustness, Stability, Center of mass, Design, Dimensions, Dynamics (Mechanics), Humanoid robots, Robots, Testing performance

Proceedings Papers

A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing

Peter Larson, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 877-883, August 12–15, 2012

Paper No: DETC2012-71240

DOI: https://doi.org/10.1115/DETC2012-71240

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Topics: Pendulums, Springs, Stability, Torque, Damping, Legged locomotion

Proceedings Papers

Simple Leg Placement Strategy for a One Legged Running Model

Timothy Sullivan, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 935-940, August 12–15, 2012

Paper No: DETC2012-71372

DOI: https://doi.org/10.1115/DETC2012-71372

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Topics: Center of mass, Control equipment, Energy dissipation, Energy levels (Quantum mechanics), Flight, Legged locomotion, Pendulums, Robotics, Springs, Stability

Proceedings Papers

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 95-104, August 12–15, 2012

Paper No: DETC2012-70711

DOI: https://doi.org/10.1115/DETC2012-70711

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Topics: Damping, Stability, Torque, Dynamics (Mechanics), Flight, Modeling, Pendulums, Springs

Proceedings Papers

Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum

Steven Riddle, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 957-965, August 12–15, 2012

Paper No: DETC2012-71411

DOI: https://doi.org/10.1115/DETC2012-71411

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Topics: Clocks, Pendulums, Springs, Friction, Center of mass, Dynamics (Mechanics), Transients (Dynamics), Dynamic stability, Robots, System dynamics

Proceedings Papers

A Simple Analytical Tool for Legged Robot Design

Zhuohua Shen, Justin Seipel

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 967-976, August 12–15, 2012

Paper No: DETC2012-71452

DOI: https://doi.org/10.1115/DETC2012-71452

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Topics: Design, Robots, Legged locomotion, Approximation, Computer simulation, Pendulums, Springs, Dynamics (Mechanics), Stability

Proceedings Papers

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Zhuohua Shen, Justin Seipel

Proc. ASME. SBC2011, ASME 2011 Summer Bioengineering Conference, Parts A and B, 281-282, June 22–25, 2011

Paper No: SBC2011-53973

DOI: https://doi.org/10.1115/SBC2011-53973

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Topics: Springs, Stability, Pendulums, Center of mass, Clocks, Dynamics (Mechanics), Flight, Legged locomotion, Robots

Journal citation

NARROW

A Piecewise-Linear Approximation of the Canonical Spring-Loaded Inverted Pendulum Model of Legged Locomotion

Design of Stabilizing Arm Mechanisms for Carrying and Positioning Loads

A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability

Design of Elastic Element and Controller Algorithm

Design of Compliant Bamboo Poles for Carrying Loads

Comparison of Hip Torque and Radial Forcing Effects on Locomotion Stability and Energetics

Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied

Actuated Slip Model of Human Running With an Elastically-Suspended Load

A Simple Model for Body Pitching Stabilization

Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

Energy Efficiency and Stability of a Nonlinear Coupled-Oscillator Model of Hopping With Elastically-Suspended Loads

Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses

Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control

A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing

Simple Leg Placement Strategy for a One Legged Running Model

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum

A Simple Analytical Tool for Legged Robot Design

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

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