A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion
Ali U. Kilic,David J. Braun,Ali U. Kilic,David J. Braun
The Spring-Loaded Inverted Pendulum (SLIP) is one of the simplest models of robot locomotion. SLIP is commonly used to predict the center of mass motion and derive simple control laws for stable locomotion. However, the SLIP model is not integrable, which means that no closed-form relation can be derived to understand how the design and control parameters of the SLIP model affect stable locomotion...
