The concept of passive dynamic walking and running [5] has demonstrated that a simple passive model can represent the dynamics of whole-body human locomotion. Since then, many passive models were developed and studied: [3,1,2,11]. The later developed Spring-Loaded Inverted Pendulum (SLIP) [1, 4, 11, 2] exhibits stable center of mass (CoM) motions just by resetting the landing angle at each touch down. Also, compared to SLIP, a SLIP-like model with simple flight leg control is better at resisting perturbations of the angle of velocity but not the magnitude [11, 2, 7]. Energy conserving models explain much about whole-body locomotion. Recently, there has been investigations of modified spring-mass models capable of greater stability, like that of animals and robots [9, 10, 8, 12]. Inspired by RHex [6], the Clock-Torqued Spring-Loaded Inverted Pendulum (CT-SLIP) model [9] was developed, and has been used to explain the robust stability of animal locomotion [12]. Here we present a model (mechanism) simpler than CT-SLIP called Forced-Damped SLIP (FD-SLIP) that can attain full asymptotically stability of the CoM during locomotion, and is capable of both walking and running motions. The FD-SLIP model, having fewer parameters, is more accessible and easier to analyze for the exploration and discovery of principles of legged locomotion.

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