A hip-actuated monoped can stabilize pitch and energize its hop with the same torque, and its steady-state gait has closed-form fixed points and eigenvalues from hybrid averaging, validated on the Penn Jerboa robot.
A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability , url =
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Hip Energized Monopedal Hopping
A hip-actuated monoped can stabilize pitch and energize its hop with the same torque, and its steady-state gait has closed-form fixed points and eigenvalues from hybrid averaging, validated on the Penn Jerboa robot.