Table of Contents
Abstract
1 Introduction
2 State of the Art
2.1 Spring-Loaded Inverted Pendulum model (SLIP)
2.2 SLIP Template for Running
2.3 Locomotion Stability
2.4 Haptic Interactions
3 Haptic Control Design
3.1 Principles of a Haptic Interface
3.2 Role of Feedback
3.3 System Description
3.3.1 The Controller
3.3.2 Haptic Robot
3.3.2 Haptic Robot
4 Modelling
4.1 Main Variables
4.2 Motion Equations
4.3 Touchdown Calculation
4.4 Termination Conditions
5 Experimental Simulation
5.1 Calibration of the Haptic Device Robot
5.2 Initial Value Set
5.3 Predefined Constants
5.4 Enabling Haptics
5.5 Integrator
5.6 Touchdown Calculation
5.7 Spring Force Computation
5.8 S-R Flip-Flop Module
6 Results
6.1 General trials – No haptic input by the user
6.1.1 Changing initial horizontal velocity
6.1.2 Changing initial height
6.2 Trials with external force application
6.3 Trials with spring stiffness manipulation
6.4 Trials with spring stiffness manipulation and different height
7 Interpretation & Discussion
8 Future Work
References