Animal Running - the SLIP model
Intro
SDM
Design
Dynamics
Conclusions
Human
TWO-
Legged
Cockroach
Crab
Legged
EIGHT-
Dog
Legged
FOUR-
V
e
r
t
i
c
a
l
F
o
r
c
e
B
o
d
y
W
e
i
g
h
t
F
o
r
c
e
T
i
m
e
Fore-aft
Blickhan 1989
SIX-
Legged
Spring-Loaded
Inverted Pendulum
SLIP
Cavagna et al., 1975