Central pivot point control of a body-attached spring-mass runner
Overview
This research introduces a Central Pivot Point (CPP) control law for trunk-equipped runners, restoring central-force dynamics to enable analytic solutions. The method decouples pitch motion, stabilizes periodic gaits with bounded torque, and provides an analytic return map that predicts liftoff velocity and apex position with mean errors of 1.6% and 0.9%, respectively. A deadbeat stride controller tracks changes in speed, height, and posture, making trunk models accessible to tools developed for spring-loaded inverted pendulum (SLIP) analysis.
Generated from attributed reports · Updated 1 hours ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
No current evidence-backed claims. Missing information remains not reported.
Report timeline
Follow attributed reports and material updates.
- arXiv Robotics — research abstractsSignalCentral pivot point control of a body-attached spring-mass runner: periodic gaits, stabilization, template embedding and approximate analytic return maps
This research introduces a Central Pivot Point (CPP) control law for trunk-equipped runners, restoring central-force dynamics to enable analytic solutions. The method decouples pitch motion, stabilizes periodic gaits with bounded torque, and provides an analytic return map that predicts liftoff velocity and apex position with mean errors of 1.6% and 0.9%, respectively. A deadbeat stride controller tracks changes in speed, height, and posture, making trunk models accessible to tools developed for spring-loaded inverted pendulum (SLIP) analysis.
Event coverage history
There is not enough continuous observation data to show a trend.
Timezone · UTC
Article dates follow your selected timezone. Briefing editions use Hong Kong time (UTC+8).