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"Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python

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posted on 12.08.2015 by Mohammad Shahbazi
The Package includes: 1. A Python Class creating a standard "bipedal" Spring-Loaded Inverted Pendulum (SLIP) Object to model bipedal walking. 2. A Python Function computing an approximate mapping from any initial condition to a particular event (e.g., touchdown, liftoff) at the end of certain mode of the Bipedal SLIP model. 3. A test scripts for demo. The derivation of this map has been presented in "Approximate analytical solutions to the double-stance dynamics of the lossy Spring-Loaded Inverted Pendulum, by M. Shahbazi, U. Saranli, R. Babuska, G. Lopes" (under review).



TU Delft, Faculty of Mechanical, Maritime and Materials Engineering, Delft Center for Systems and Control


TU Delft


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