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Passively stable conservative locomotion

SIAM Journal on Applied Dynamical Systems, 2003

R. M. Ghigliazza†, R. Altendorfer*, P. Holmes†, D. E. Koditschek*
*:Artificial Intelligence Lab, University of Michigan, Ann Arbor, MI 48109, US
†: Dept. of Mech. and Aerospace Eng., Princeton University, Princeton, NJ 08544, US

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Abstract
The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in numerous animal species. Although locomotion is generally considered a complex task, requiring sophisticated control strategies to account for coordination and stability, we show that asymptotically stable gaits can be found in the passive (uncontrolled) SLIP with both linear and ‘air spring’ potentials. We first analyze the model under the common assumption of negligible gravitational effects during stance phase. We subsequently include and assess these effects, and briefly consider coupling to pitching motions. We investigate the domains of attraction of symmetric periodic gaits and bifurcations from the branches of stable gaits in terms of nondimensional parameters.
BibTeX entry
@inproceedings{SIAM Journal on Applied Dynamical Systems,
  author       = {R. M. Ghigliazza and R. Altendorfer and P. Holmes and D. E. Koditschek},
  title        = {Passively stable conservative locomotion},
  booktitle    = {SIAM Journal on Applied Dynamical Systems},
  year         = {2003}, 
  month        = {May}
}

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