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- W1523946546 abstract "In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the spring loaded inverted pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression despite the non-integrability of the SLIP dynamics. We outline the application of this analysis of other models of legged locomotion and it importance for the stability of legged robots and animals." @default.
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- W1523946546 date "2004-03-02" @default.
- W1523946546 modified "2023-09-23" @default.
- W1523946546 title "Towards a factored analysis of legged locomotion models" @default.
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- W1523946546 doi "https://doi.org/10.1109/robot.2003.1241570" @default.
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