Spring-mass running: simple approximate solution and application to gait stability.

@article{Geyer2005SpringmassRS,
  title={Spring-mass running: simple approximate solution and application to gait stability.},
  author={Hartmut Geyer and Andr{\'e} Seyfarth and Reinhard Blickhan},
  journal={Journal of theoretical biology},
  year={2005},
  volume={232 3},
  pages={315-28}
}
The planar spring-mass model is frequently used to describe bouncing gaits (running, hopping, trotting, galloping) in animal and human locomotion and robotics. Although this model represents a rather simple mechanical system, an analytical solution predicting the center of mass trajectory during stance remains open. We derive an approximate solution in elementary functions assuming a small angular sweep and a small spring compression during stance. The predictive power and quality of this… CONTINUE READING
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Movement criterion of fast locomotion: mathematical analysis and neuro-biomechanical interpretation with functional muscle reflexes

  • H. Geyer
  • Diploma Thesis
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Limits of elastic leg operation

  • A. Seyfarth, T. Apel, H. Geyer, R. Blickhan
  • Motion Systems
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