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Conventionally, SLIP models                 employ a single support leg during stance and, while they can exhibit stable steady                 gaits when motions are confined to the sagittal plane, three-dimensional gaits are                 unstable to lateral toppling. In this paper it is shown that multiple stance legs                 can confer stability. Three SLIP-inspired models are studied: a passive bipedal                 kangaroo-hopper, an actuated insect model, and passive and actuated versions of a                 hexapedal robot model. The latter models both employ tripod stance phases. The                 sources of lateral stability are identified and, for the passive systems, analytical                 estimates of critical parameters are provided. Throughout, rotations are ignored and                 only center-of-mass translational dynamics are considered.<\/jats:p>","DOI":"10.1177\/0278364906069045","type":"journal-article","created":{"date-parts":[[2006,8,23]],"date-time":"2006-08-23T10:18:08Z","timestamp":1156328288000},"page":"889-902","source":"Crossref","is-referenced-by-count":27,"title":["Three-dimensional Translational Dynamics and Stability of Multi-legged Runners"],"prefix":"10.1177","volume":"25","author":[{"given":"Justin","family":"Seipel","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering Program in Applied and                         Computational Mathematics Princeton University, Princeton, NJ 08544, USA"}]},{"given":"Philip","family":"Holmes","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering Program in Applied and                         Computational Mathematics Princeton University, Princeton, NJ 08544, USA"}]}],"member":"179","published-online":{"date-parts":[[2006,9]]},"reference":[{"key":"e_1_2_1_1_1","volume-title":"Elastic Mechanisms in Animal Movement","author":"Alexander, R. 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