cff-version: 1.2.0
abstract: "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)."
authors:
  - family-names: Mohammad Shahbazi
    given-names: 
    orcid: "https://orcid.org/0000-0001-9479-6756"
title: ""Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python"
keywords:
version: 1
identifiers:
  - type: doi
    value: 10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a
license: 4TU General Terms of Use
date-released: 2015-08-12