The Clock-Torqued Spring-Loaded Inverted Pendulum (CT-SLIP) model is extended to predict both leg revolution and oscillation behaviors. With this model we demonstrate that the center-of-mass locomotion dynamics of both leg revolution and oscillation cases have identical local stability with respect to small perturbations, while global stability (with respect to large perturbations) shows differences. This extension of the CT-SLIP model and comparative analysis has potential benefits in robot path planning where there may be a choice between a leg revolution or oscillation. Further, this analysis helps relate mathematical models and physical models based on leg revolution to animal locomotion that is dependent on leg retraction and oscillation.

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