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The main driving force behind research on legged robots has always been their potential for high performance locomotion on rough terrain and the outdoors. Nevertheless, most existing control algorithms for such robots either make rigid assumptions about their environments (e.g flat ground), or rely on kinematic planning at low speeds. Moreover, the traditional separation of planning from control often...
The spring-loaded inverted pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for several hopping robot designs. Further research on this model led to the discovery of several analytic approximations to its normally nonintegrable dynamics. However, these approximations...
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