Departmental Papers (ESE)


It is now well established that running animals’ mass centers exhibit the characteristics of a Spring Loaded Inverted Pendulum (SLIP) in the sagittal plane (Blickhan and Full, 1993). What control policy accomplishes this collapse of dimension by which animals solve the “degrees of freedom problem” (Bernstein, 1967)? How valuable might this policy be to gait control in legged robots?

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

4th World Congress of Biomechanics



Date Posted: 11 May 2018