"Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python
Datacite citation style:
Mohammad Shahbazi (2015): "Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8aOther citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite
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).
- 2015-08-12 first online, published, posted
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organizationsTU Delft, Faculty of Mechanical, Maritime and Materials Engineering, Delft Center for Systems and Control