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Bayesian Optimisation of SLIP model parameters

version (3.49 MB) by Kaur Aare Saar
Bayesian Optimisation of Spring Loaded Inverted Pendulum (SLIP) model to find stable gait patterns


Updated 18 Sep 2016

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The Spring Loaded Inverted Pendulum (SLIP) gait model can be characterised with various parameters, including spring stiffness, mass of the robot, touchdown angle and leg length. Tuning the parameters can be time consuming and Bayesian Optimisation provides an efficient way for finding the optimal gait parameters.
The user can set the initial conditions of the system and Bayesian optimisation finds the optimal spring stiffness and touchdown angles for the given initial conditions.
Depending on the initial conditions, Bayesian optimisation can find different gait patterns, including walking, running and skipping gait pattern.
See attached pdf file for further information.

Cite As

Kaur Aare Saar (2021). Bayesian Optimisation of SLIP model parameters (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (1)

Jorge De León

Hi Kaur,
I want to test your script for the SLIP model, but I have some questions about how to do it.
In the script SLIP_model.m, in the inputs variables, what should I insert?
parameters: I have no idea.
profile: walking, skipping, running?
time: seconds of the simulation

Thank you very much!

MATLAB Release Compatibility
Created with R2015b
Compatible with any release
Platform Compatibility
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