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cs.RO2018
Model-Based Identification and Control of a One-Legged Hopping Robot
Hasan Eftun Orhon
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to b…
cs.RO2015
Extending The Lossy Spring-Loaded Inverted Pendulum Model with a Slider-Crank Mechanism
H. Eftun Orhon, Caner Odabas, Ismail Uyanik +2
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable o…