A Planar Hopping Robot with One Actuator: Design, Simulation, and Experimental Results
Bibliographic record
Abstract
The complex musculoskeletal system of a running animal on horizontal surfaces act essentially like a simple pogo stick, and can be modeled as a hopping spring-mass model known as the Spring-loaded Inverted Pendulum (SLIP) model. The SLIP model has been extensively used as a reduced-order model in analysis and control of running legged robots. By contrast, the SLIP model itself has never been implemented in a robot and validated experimentally. This thesis addresses the development and validation of a robotic SLIP, a planar one-legged hopping robot with only one actuator. A feasibility study was performed using numerical simulation. The experimental platform was designed and built based on SLIP-model features. A hopping controller that conceptually reproduced the self-stability property of the SLIP model was implemented. Running was achieved at 6.7 leg lengths per second, which is, to date, the fastest dimension-less speed for a single-legged robot. Simulation and experimental data demonstrated periodic and robust stability. The SLIP model was qualitatively validated for a particular gait in simulation and experimentation.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.005 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".