Abstract: Here, we introduce and analyze a novel approximation of the well-established and widely used spring-loaded inverted pendulum (SLIP) model of legged locomotion, which has made several validated predictions of the center-of-mass ...

Abstract: Despite the neuromechanical complexity underlying animal locomotion, the steadystate centerofmass motions and ground reaction forces of animal running can be predicted by simple springmass models such as the canonical ...