Passively stable hopping of an articulated leg with a tendon-coupled ankle

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Conference Proceeding
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 3629 - 3633
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Dynamic maneuvers have been successfully implemented on many prismatic legged robots. Systems with articulated legs of significant relative mass pose more of a challenge in part due to the physics of thrusting with rotating limbs, which results in undesi
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