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  • Model predictive control for sagittal plane locomotion

    Creator:
    Maunder, Cary R.
    Abstract:
    A distinct characteristic of legged locomotion is its periodic nature. This periodic motion, in the form of a periodic orbit, has been the target of many walking and running control strategies. The spring loaded inverted pendulum (SLIP) has become a popular model of sagittal plane locomotion, exhibiting behavior characteristic of...
    Resource Type:
    Masters Thesis