Abstract
In this chapter, an articulated/generalized spring-loaded inverted pendulum (GSLIP) model is proposed firstly. Secondly, the analytical approximation of the proposed GSLIP model is addressed through the method of perturbation. Thirdly, the prediction performances of approximations of the proposed GSLIP model are discussed. Finally, comparative simulations show that the GSLIP model would achieve better prediction performance than the classical spring-loaded inverted pendulum (SLIP) model.
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