Central pivot point control of a body-attached spring-mass runner: periodic gaits, stabilization, template embedding and approximate analytic return maps

İzel Sever, O. Kaan Karagöz, M. Mert Ankaralı

The spring-loaded inverted pendulum (SLIP) describes the center-of-mass (COM) motion of runners but has no trunk. In trunk models, the hip torque couples posture and COM motion and…