"Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python
datasetposted on 12.08.2015 by Mohammad Shahbazi
Datasets usually provide raw data for analysis. This raw data often comes in spreadsheet form, but can be any collection of data, on which analysis can be performed.
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).