2019
Seeking the Analytical Approximation of the Stance Dynamics of the 3D Spring-Loaded Inverted Pendulum Model By Using Perturbation Approach
IROS 2019poster
The Spring-Loaded Inverted Pendulum (SLIP) has been widely exploited in both biomechanical and robotics research due to its simple form in mathematics and high accuracy in fitting experimental biology data. However the intrinsic nonlinearity of the SLIP dynamics makes accurate analytical representat…