ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
Dennis Ossadnik Elisabeth Jensen Sami Haddadin Dennis Ossadnik Elisabeth Jensen Sami Haddadin
While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phase. In this paper, we develop a new compact dynamic model as a first step toward a fully unified locomotion template model (ULT-model) of an upright-trunk forward hopping system, which will also require a unified control ...