TY - DATA
T1 - "Bipedal" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python
PY - 2015/08/12
AU - Mohammad Shahbazi
UR - https://data.4tu.nl/articles/dataset/_Bipedal_Spring-Loaded_Inverted_Pendulum_SLIP_model_and_an_associated_approximate_return_map_in_Python/12719483/1
DO - 10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a
KW - Analytical Approximation
KW - Biomechanical Engineering
KW - Bipedal Walking
KW - Double-Stance
KW - Intelligent Control and Robotics
KW - Python
KW - Spring-Loaded Inverted Pendulum
KW - dissertation
N2 - 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).
ER -