On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization

@inproceedings{Hamzacebi2017OnTP,
  title={On the periodic gait stability of a multi-actuated spring-mass hopper model via partial feedback linearization},
  author={Hasan Hamzacebi and {\"O}mer Morg{\"u}l},
  year={2017}
}
Spring-loaded inverted pendulum (SLIP) template (and its various derivatives) could be considered as the mostly used and widely accepted models for describing legged locomotion. Despite their simple nature, as being a simple spring-mass model in dynamics perspective, the SLIP model and its derivatives are formulated as restricted three-body problem, whose non-integrability has been proved long before. Thus, researchers proceed with approximate analytical solutions or use partial feedback… CONTINUE READING

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