Approximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping

@inproceedings{Saranl2010ApproximateAS,
  title={Approximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping},
  author={Uluc. Saranlı and {\"O}m{\"u}r Arslan and Mustafa M. Ankaralı and {\"O}mer Morg{\"u}l},
  year={2010}
}
This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the SpringLoaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajecto ries. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its care ful analysis is instrumental in the design of successful locomo tion controllers. Unfortunately, none of the existing anal ytic methods in the literature… CONTINUE READING
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