{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:59:34Z","timestamp":1777715974026,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"10-11","license":[{"start":{"date-parts":[[2004,10,1]],"date-time":"2004-10-01T00:00:00Z","timestamp":1096588800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,10]]},"abstract":"<jats:p>We apply the stability analysis for hybrid legged locomotion systems, introduced in our companion paper in this issue, to a new simple clock-driven SLIP model inspired by the robot RHex. We adopt in stance phase the three-degrees-of-freedom (3DoF) spring loaded inverted pendulum (SLIP) model introduced in our companion paper to capture RHex\u2019s pitching dynamics in the sagittal plane. The coordinating influence of RHex\u2019s open-loop clock controller is subsumed into a leg placement strategy derived from a bipedal abstraction of RHex. The \u201csymmetric\u201d factorization analysis introduced in our companion paper yields a necessary condition for gait stability expressed in closed form, which can be imposed directly on the clock parameter space. This represents the first reported analytical insight into how a dynamical runner might be stabilized by a completely feed forward rhythmic limb coordination pattern. Correspondence in steady-state gait location and stability characteristics with an appropriately tuned 24DoF model of RHex provides numerical evidence that the 3DoF SLIP model offers a descriptive explanation for the robot\u2019s empirical running behavior.<\/jats:p>","DOI":"10.1177\/0278364904047390","type":"journal-article","created":{"date-parts":[[2004,9,27]],"date-time":"2004-09-27T01:22:25Z","timestamp":1096248145000},"page":"1001-1012","source":"Crossref","is-referenced-by-count":59,"title":["Stability Analysis of a Clock-Driven Rigid-Body SLIP Model for RHex"],"prefix":"10.1177","volume":"23","author":[{"given":"Richard","family":"Altendorfer","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, University of                         Michigan, Ann Arbor, MI 48109, USA"}]},{"given":"Daniel E.","family":"Koditschek","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computer Science, University of                         Michigan, Ann Arbor, MI 48109, USA"}]},{"given":"Philip","family":"Holmes","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, Princeton University,                         Princeton, NJ 08544, USA"}]}],"member":"179","published-online":{"date-parts":[[2004,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1012426720699"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D.E., Brown, H.B. 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