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Justin Seipel
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Journal Articles

A Piecewise-Linear Approximation of the Canonical Spring-Loaded Inverted Pendulum Model of Legged Locomotion

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Zhuohua Shen, Justin Seipel
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2016, 11(1): 011007.
Paper No: CND-14-1187
https://doi.org/10.1115/1.4029664
Published Online: January 1, 2016
View Articletitled, A Piecewise-Linear Approximation of the Canonical Spring-Loaded Inverted Pendulum Model of Legged Locomotion
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Topics: Approximation, Dynamics (Mechanics), Legged locomotion, Stability, Bifurcation, Springs, Eigenvalues, Gravity (Force), Flight, Trajectories (Physics)
Journal Articles

Design of Stabilizing Arm Mechanisms for Carrying and Positioning Loads

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Jeffrey Ackerman, Justin Seipel
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. October 2015, 137(10): 104501.
Paper No: MD-14-1316
https://doi.org/10.1115/1.4030987
Published Online: August 10, 2015
View Articletitled, Design of Stabilizing Arm Mechanisms for Carrying and Positioning Loads
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Topics: Design, Springs, Stiffness, Stress, Linkages, Equilibrium (Physics), Deflection
Journal Articles

A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability

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Ian Abraham, ZhuoHua Shen, Justin Seipel
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2015, 10(5): 051008.
Paper No: CND-14-1068
https://doi.org/10.1115/1.4028751
Published Online: April 2, 2015
View Articletitled, A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability
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Topics: Damping, Stability
Proceedings Papers

Design of Elastic Element and Controller Algorithm

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Zhuohua Shen, Junming Zhang, Manish Anand, Jared Schwartzentruber, Justin Seipel
Proc. ASME. IMECE2014, Volume 3: Biomedical and Biotechnology Engineering, V003T03A057, November 14–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2014-38758
https://doi.org/10.1115/IMECE2014-38758
View Paper titled, Design of Elastic Element and Controller Algorithm
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Topics: Algorithms, Control equipment, Design, Stiffness, Actuators, Simulation, Springs, Steel, Strips, Torque
Journal Articles

Design of Compliant Bamboo Poles for Carrying Loads

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Karna Potwar, Jeffrey Ackerman, Justin Seipel
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2015, 137(1): 011404.
Paper No: MD-14-1167
https://doi.org/10.1115/1.4028757
Published Online: January 1, 2015
View Articletitled, Design of Compliant Bamboo Poles for Carrying Loads
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Topics: Poles (Building), Stress, Design
Proceedings Papers

Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied

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Nikhil Rao, Zhuohua Shen, Justin Seipel
Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A015, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13576
https://doi.org/10.1115/DETC2013-13576
View Paper titled, Comparing Legged Locomotion With a Sprung-Knee and Telescoping-Spring When Hip Torque is Applied
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Topics: Knee, Legged locomotion, Springs, Torque, Dynamics (Mechanics), Center of mass, Pendulums, Robots, Stability
Proceedings Papers

Actuated Slip Model of Human Running With an Elastically-Suspended Load

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Karna Potwar, Jeffrey Ackerman, Justin Seipel
Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A017, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13612
https://doi.org/10.1115/DETC2013-13612
View Paper titled, Actuated Slip Model of Human Running With an Elastically-Suspended Load
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Topics: Stress, Stiffness, Biomechanics, Design, Dynamics (Mechanics), Pendulums, Springs, Suspension systems
Proceedings Papers

A Simple Model for Body Pitching Stabilization

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Yuhang Che, Zhuohua Shen, Justin Seipel
Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A014, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13525
https://doi.org/10.1115/DETC2013-13525
View Paper titled, A Simple Model for Body Pitching Stabilization
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Topics: Actuators, Biology, Control equipment, Damping, Delays, Dynamics (Mechanics), Energy efficiency, Feedback, Feedforward control, Legged locomotion
Proceedings Papers

Comparison of Hip Torque and Radial Forcing Effects on Locomotion Stability and Energetics

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Zhuohua Shen, Peter Larson, Justin Seipel
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A067, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13516
https://doi.org/10.1115/DETC2013-13516
View Paper titled, Comparison of Hip Torque and Radial Forcing Effects on Locomotion Stability and Energetics
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Topics: Energetics, Stability, Torque, Pendulums, Springs, Robots, Simulation
Journal Articles

Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load

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Xingye Da, Jeffrey Ackerman, Justin Seipel
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2014, 9(2): 021006.
Paper No: CND-13-1022
https://doi.org/10.1115/1.4024778
Published Online: September 17, 2013
View Articletitled, Energetic and Dynamic Analysis of Multifrequency Legged Robot Locomotion With an Elastically Suspended Load
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Topics: Robots, Stress
Proceedings Papers

Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control

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Dominik Budday, Fabian Bauer, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 859-866, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71154
https://doi.org/10.1115/DETC2012-71154
View Paper titled, Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control
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Topics: Robustness, Stability, Center of mass, Design, Dimensions, Dynamics (Mechanics), Humanoid robots, Robots, Testing performance
Proceedings Papers

A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing

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Peter Larson, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 877-883, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71240
https://doi.org/10.1115/DETC2012-71240
View Paper titled, A Spring-Loaded Inverted Pendulum Locomotion Model With Radial Forcing
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Topics: Pendulums, Springs, Stability, Torque, Damping, Legged locomotion
Proceedings Papers

Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses

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Jeffrey Ackerman, Xingye Da, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1153-1159, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71401
https://doi.org/10.1115/DETC2012-71401
View Paper titled, Energy Efficiency of Legged Robot Locomotion With Elastically-Suspended Loads Over a Range of Suspension Stiffnesses
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Topics: Energy efficiency, Robots, Stress, Electronics, Fuels, Legged locomotion, Stiffness, Suspension systems
Proceedings Papers

Simple Leg Placement Strategy for a One Legged Running Model

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Timothy Sullivan, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 935-940, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71372
https://doi.org/10.1115/DETC2012-71372
View Paper titled, Simple Leg Placement Strategy for a One Legged Running Model
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Topics: Center of mass, Control equipment, Energy dissipation, Energy levels (Quantum mechanics), Flight, Legged locomotion, Pendulums, Robotics, Springs, Stability
Proceedings Papers

Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability

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Zhuohua Shen, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 95-104, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70711
https://doi.org/10.1115/DETC2012-70711
View Paper titled, Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability
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Topics: Damping, Stability, Torque, Dynamics (Mechanics), Flight, Modeling, Pendulums, Springs
Proceedings Papers

Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum

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Steven Riddle, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 957-965, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71411
https://doi.org/10.1115/DETC2012-71411
View Paper titled, Foot Contact Interactions of a Clock Torqued Spring-Loaded Inverted Pendulum
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Topics: Clocks, Pendulums, Springs, Friction, Center of mass, Dynamics (Mechanics), Transients (Dynamics), Dynamic stability, Robots, System dynamics
Proceedings Papers

A Simple Analytical Tool for Legged Robot Design

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Zhuohua Shen, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 967-976, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71452
https://doi.org/10.1115/DETC2012-71452
View Paper titled, A Simple Analytical Tool for Legged Robot Design
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Topics: Design, Robots, Legged locomotion, Approximation, Computer simulation, Pendulums, Springs, Dynamics (Mechanics), Stability
Proceedings Papers

Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches

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Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 3: 38th Design Automation Conference, Parts A and B, 681-687, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71473
https://doi.org/10.1115/DETC2012-71473
View Paper titled, Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches
Open the PDF for Towards Robustly Stable Musculo-Skeletal Simulation of Human Gait: Merging Lumped and Component-Based Modeling Approaches in another window
Topics: Modeling, Musculoskeletal system, Simulation, Dynamics (Mechanics), Center of mass, Clocks, Pendulums, Springs, Stability, Control equipment
Proceedings Papers

Energy Efficiency and Stability of a Nonlinear Coupled-Oscillator Model of Hopping With Elastically-Suspended Loads

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Jeffrey Ackerman, Justin Seipel
Proc. ASME. IDETC-CIE2012, Volume 1: 24th Conference on Mechanical Vibration and Noise, Parts A and B, 271-280, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71467
https://doi.org/10.1115/DETC2012-71467
View Paper titled, Energy Efficiency and Stability of a Nonlinear Coupled-Oscillator Model of Hopping With Elastically-Suspended Loads
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Topics: Energy efficiency, Stability, Stress, Flight, Suspension systems, Design, Legged locomotion, Robots
Proceedings Papers

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

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Zhuohua Shen, Justin Seipel
Proc. ASME. SBC2011, ASME 2011 Summer Bioengineering Conference, Parts A and B, 281-282, June 22–25, 2011
Publisher: American Society of Mechanical Engineers
Paper No: SBC2011-53973
https://doi.org/10.1115/SBC2011-53973
View Paper titled, A Spring-Mass Model of Locomotion With Full Asymptotic Stability
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Topics: Springs, Stability, Pendulums, Center of mass, Clocks, Dynamics (Mechanics), Flight, Legged locomotion, Robots