The Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion
Max P. Austin Jonathan E. Clark Max P. Austin Jonathan E. Clark
This paper describes the development of a single reduced-order dynamic model that captures running on land, running while submerged, and for the first time swimming on the surface of water. By capturing the effect of fluid forces on both the body and the leg, the Spring-Loaded Inverted Pendulum (SLIP) model is extended to operate in amphibious and aquatic regimes. Three distinct stable motion patt...