A Model for Rock Climbing Developed from Actuated Dynamics

Abstract

In the study of gait dynamics, several models have been developed: the McGeer Walking Model [6], the Spring Loaded Inverted Pendulum (SLIP) model [5], the Lateral Leg Spring (LLS) model [9], and the Full-Goldman model [16]. This paper demonstrates that the most widely used template, SLIP, could be extended to model uphill running through the addition of an actuator. Having shown the usefulness of an actuator in an existing template, the bulk of the paper develops a new template, based in actuated dynamics, which models the previously unstudied role of legs in climbing. It is composed of two springactuated legs. This new model is combined with the Full-Goldman model, which describes the role of arms in climbing, to create a four-limbed model for simple vertical climbing.