Analytical control parameters of the swing leg retraction method using an instantaneous SLIP model

@article{Shemer2014AnalyticalCP,
  title={Analytical control parameters of the swing leg retraction method using an instantaneous SLIP model},
  author={Natan Shemer and Amir Degani},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={4065-4070}
}
The Spring-Loaded Inverted Pendulum (SLIP) is a widely used model for the description of humans and animals running motion. The SLIP model is, however, sensitive to impact angle for various terrain heights. One known method for increasing the model's robustness to terrain changes is the Swing Leg Retraction (SLR) method. Despite its popularity, an analytic formulation of this method has yet been provided. In this work, using an instantaneous stance phase assumption, we present the increase in… CONTINUE READING

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