{"paper":{"title":"Identification of a Hybrid Spring Mass Damper via Harmonic Transfer Functions as a Step Towards Data-Driven Models for Legged Locomotion","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","math.DS"],"primary_cat":"cs.RO","authors_text":"\\.Ismail Uyan{\\i}k, Mustafa Mert Ankaral{\\i}, Noah J. Cowan, \\\"Omer Morg\\\"ul, Ulu\\c{c} Saranl{\\i}","submitted_at":"2015-01-22T20:42:03Z","abstract_excerpt":"There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviors such as running involve non-integrable dynamics, requiring the use of possibly inaccurate approximations in the design of model-based controllers. In this study, we show how data-driven frequency domain system identification methods can be used to obtain input--output characteristics for a class of dynamical systems around their limit cycles, with hybrid structural properties similar to those observed in legged locomotio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1501.05628","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}