Freia John

Dynamic Locomotion Gaits of a Compliantly Actuated Quadruped With SLIP-Like Articulated Legs Embodied in the Mechanical Design

The spring loaded inverted pendulum (SLIP) model has been extensively shown to be fundamental for legged locomotion. However, the way this low-order template model dynamics is anchored in high-dimensional articulated multibody systems describing compliantly actuated robots (and animals) is not obvio