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Journal Articles

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

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

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

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

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
Proceedings Papers

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

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

A Simple Model for Body Pitching Stabilization

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

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
Proceedings Papers

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

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

A Simple Analytical Tool for Legged Robot Design

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

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

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
Proceedings Papers

A Spring-Mass Model of Locomotion With Full Asymptotic Stability

Zhuohua Shen, Justin Seipel
Proc. ASME. IMECE2011, Volume 7: Dynamic Systems and Control; Mechatronics and Intelligent Machines, Parts A and B, 301-306, November 11–17, 2011
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2011-65652
https://doi.org/10.1115/IMECE2011-65652
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), Energy conservation, Legged locomotion