Rao, Nikhil V. M.S.M.E, Purdue University, December 2013. Analysis of an Actuated Two Segment Leg Model of Locomotion. Major Professor: Dr. Justin E. Seipel, School of Mechanical Engineering. Research studies on dynamic models of legged locomotion have generally focused on telescoping-type leg models. Such telescoping spring loaded inverted pendulum (SLIP) models have been able to accurately pr...

ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running. To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot that can operate in real-world settings (i.e. off-tether and without planarizing restraints). We outline the mechanisms...

This paper discusses two approaches to modeling helical suspension springs for use in a dynamic finite element compressor model. The first approach represents the spring's stiffness characteristics with a simple spring element matrix. The appropriate spring constants are calculated using a separate finite element model of the spring. The spring modeling procedure is described and supplemented w...

Landing mats that can undergo a large amount of area deformation are now essential for the safe completion of landings in gymnastics. The objective of this study was to develop an analytical model of a landing mat that reproduces the key characteristics of the mat-ground force during impact with minimal simulation run time. A force plate and two high-speed video cameras were used to record the ...

This paper presents a mass-spring model for real-time simulation of volume preserving deformable solids. A new type of springs that show collective behaviour was developed called "support springs", which model the "matter" inside the object and make it preserve its volume without the need of explicit volume computations during the simulation as it is done in conventional methods. Comparing the ...

The purpose of the research conducted was to develop a real-time surgical simulator for preoperative planning of surgery in congenital heart disease. The main problem simulating procedures on cardiac morphology is the need for a large degree of detail and simulation speed. In combination with a demand for physically realistic real-time behaviour this gives us tradeoffs not easily balanced. The ...

Autonomous applications of legged platforms will inevitably require accurate state estimation both for feedback control as well as mapping and planning. Even though kinematic models and low-bandwidth visual localization may be sufficient for fully-actuated, statically stable legged robots, they are inadequate for dynamically dexterous, underactuated platforms where second order dynamics are dom...