Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template

@article{Uyanik2015ExperimentalVO,
  title={Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template},
  author={Ismail Uyanik and {\"O}mer Morg{\"u}l and Uluc Saranli},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={208-216}
}
Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature… CONTINUE READING
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