Lateral stability of the spring-mass hopper suggests a two-step control strategy for running.

Abstract

This paper investigates the control of running gaits in the context of a spring loaded inverted pendulum model in three dimensions. Specifically, it determines the minimal number of steps required for an animal to recover from a perturbation to a specified gait. The model has four control inputs per step: two touchdown angles (azimuth and elevation) and two… (More)
DOI: 10.1063/1.3127577

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@article{Carver2009LateralSO, title={Lateral stability of the spring-mass hopper suggests a two-step control strategy for running.}, author={Sean Carver and Noah J. Cowan and John M. Guckenheimer}, journal={Chaos}, year={2009}, volume={19 2}, pages={026106} }