The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper

Ioannis Poulakakis, Jessy W. Grizzle. The Spring Loaded Inverted Pendulum as the Hybrid Zero Dynamics of an Asymmetric Hopper. IEEE Trans. Automat. Contr., 54(8):1779-1793, 2009. [doi]

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