Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation

Stable locomotion that tolerates parameter variations is an important feature for legged robots. In this paper we introduce a locomotion control framework for legged robots that combines the well-known spring-loaded inverted pendulum (SLIP) with active hip actuation through Central Pattern Generators. Using this framework we present studies suggesting that compliant in contrast to rigid hip actuation and the addition of a simple feedback scheme can highly enhance the robustness of the robot locomotion against parameter changes