Template models of legged locomotion are powerful tools for gait analysis, but can also inspire robot design and control. In this paper, a spring-loaded inverted pendulum (SLIP) model is employed to control vertical hopping of a 2-segmented legged robot. Feed-forward and bio-inspired virtual model control using the SLIP model are compared. In the latter approach, the feedback control emulates a virtual spring between hip and foot. The results demonstrate similarity of human and robot hopping. Moreover, the feedback control proves to simplify and improve hopping control. It yields better perturbation recovery and locomotion adaptation and is even easier to tune. Thus, human-like hopping is achievable using a rather simple template-based controller, which ensures the required performance, robustness and versatility.

中文翻译：

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机器中类似人的跳动：反馈控制与前馈控制的运动。

腿部运动的模板模型是进行步态分析的强大工具，但也可以启发机器人的设计和控制。本文采用弹簧加载的倒立摆（SLIP）模型来控制两段腿机器人的垂直跳动。比较了使用SLIP模型的前馈和受生物启发的虚拟模型控制。在后一种方法中，反馈控件模拟臀部和脚之间的虚拟弹簧。结果证明了人类和机器人跳跃的相似性。此外，反馈控制被证明可以简化和改善跳变控制。它可产生更好的摄动恢复和运动适应性，并且更易于调整。因此，可以使用相当简单的基于模板的控制器来实现类似人的跳跃，从而确保所需的性能，鲁棒性和多功能性。