Modeling posture-dependent leg actuation in sagittal plane locomotion.

@article{Schmitt2009ModelingPL,
  title={Modeling posture-dependent leg actuation in sagittal plane locomotion.},
  author={J-H. Schmitt and Jonathan Clark},
  journal={Bioinspiration & biomimetics},
  year={2009},
  volume={4 4},
  pages={046005}
}
The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop… CONTINUE READING
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