| Simplest
Locomotion Model |
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| k, b, lnom |
| Biped |
| Biped |
| Quadruped |
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| • | Body
has 2 planar degrees of freedom |
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| – | x, z |
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| – | mass |
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| • | 4
massless legs |
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| – | freely
rotating hip joint |
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| – | prismatic
leg joint - damped linear spring |
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| – | 3
parameters per leg |
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6 parameters to tune, assuming symmetry |
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| Intro |
| Biomimesis |
| Design |
| Analysis |
| Conclusions |