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-eeb92345be8a

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Categories

• Electrical and Electronic Engineering
• Biomedical Engineering
• Human Movement and Sports Science

Keywords

Analytical Approximation Biomechanical Engineering Bipedal Walking dissertation Double-Stance Intelligent Control and Robotics Python Spring-Loaded Inverted Pendulum

Licence

4TU General Terms of Use

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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).

History

• 2015-08-12 first online, published, posted

Publisher

TU Delft

Format

media types: application/zip, text/x-c++

References

• https://doi.org/10.1109/ICRA.2015.7140005

Organizations

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