Quadrupedal template model for parametric stability analysis of trotting gaits
Lorenzo Boffa,Anna Sesselmann,Máximo A. Roa,Lorenzo Boffa,Anna Sesselmann,Máximo A. Roa
Simple template models have proven useful for understanding the underlying dynamics of legged locomotion. The most common one, the SLIP model, considers the legs as linear springs with constant stiffness, and it explains well the radial dynamics of the legs. However, in order to study the influence of the leg swing dynamics and leg segmentation on gait stability, more complex models are required. ...
