Figure 2
From: 3D-SLIP model based dynamic stability strategy for legged robots with impact disturbance rejection
Equivalent process of the quadruped mammal. (a) Quadruped mammal. (b) Simplified four-legged model. (c) An anchor for the equivalent virtual leg. (d) The simplest 3D-SLIP template (the figure is created by Visio 2016, https://support.microsoft.com/visio).
