| Modeling – Non-linear 2
DOF |
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| • | Simple model |
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| • | Opposing legs
with |
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| passive
properties |
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| • | At fixed times,
legs are |
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| given an impulse |
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| extension |
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| Sagittal |
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| plane |
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| k, b, lnom |
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| Planar |
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| “Quadruped” |
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| simplified |
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| model |
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| Modeling |