A reduced model of legged locomotion, called the Spring Loaded Inverted Pendulum (SLIP) has previously been developed to predict the dynamics of locomotion. However, due to energy conservation, the SLIP model can only be partially asymptotically stable in the center-of-mass velocity. The more recently developed Clock-Torqued Spring Loaded Inverted Pendulum (CT-SLIP) model is fully asymptotically stable, and has a significantly larger stability basin than SLIP, but requires more than twice as many parameters. To more completely explore the parameter space and understand the reason for improved stability, we develop and analyze a further reduced model called the Forced-Damped Spring Loaded Inverted Pendulum (FD-SLIP) model.

This content is only available via PDF.
You do not currently have access to this content.