{"data":{"id":"10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a","type":"dois","attributes":{"doi":"10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a","prefix":"10.4121","suffix":"uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Mohammad Shahbazi","nameType":"Personal","familyName":"Mohammad Shahbazi","nameIdentifiers":[{"nameIdentifier":"0000-0001-9479-6756","nameIdentifierScheme":"https://orcid.org/"}],"affiliation":[]}],"titles":[{"title":"\"Bipedal\" Spring-Loaded Inverted Pendulum (SLIP) model and an associated approximate return map in Python"}],"publisher":"TU Delft","container":{},"publicationYear":2015,"subjects":[{"subject":"Human Movement and Sports Science","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"1106"},{"subject":"FOS: Health sciences","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Biomedical Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"0903"},{"subject":"FOS: Medical engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Electrical and Electronic Engineering","subjectScheme":"Australian and New Zealand Standard Research Classification (ANZSRC), 2008","classificationCode":"0906"},{"subject":"FOS: Electrical engineering, electronic engineering, information engineering","schemeUri":"http://www.oecd.org/science/inno/38235147.pdf","subjectScheme":"Fields of Science and Technology (FOS)"},{"subject":"Analytical Approximation"},{"subject":"Biomechanical Engineering"},{"subject":"Bipedal Walking"},{"subject":"Double-Stance"},{"subject":"Intelligent Control and Robotics"},{"subject":"Python"},{"subject":"Spring-Loaded Inverted Pendulum"},{"subject":"dissertation"}],"contributors":[{"name":"TU Delft, Faculty Of Mechanical, Maritime And Materials Engineering, Delft Center For Systems And Control","nameType":"Organizational","affiliation":[],"contributorType":"Other","nameIdentifiers":[]}],"dates":[{"date":"2015-08-12","dateType":"Issued"}],"language":"en","types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"Dataset","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"References","relatedIdentifier":"https://doi.org/10.1109/ICRA.2015.7140005","relatedIdentifierType":"URL"}],"relatedItems":[],"sizes":[],"formats":["media types: application/zip, text/x-c++"],"version":"1","rightsList":[{"rights":"4TU General Terms of Use","rightsUri":"https://doi.org/10.4121/resource:terms_of_use"}],"descriptions":[{"description":"The Package includes: 1. A Python Class creating a standard \"bipedal\" Spring-Loaded Inverted Pendulum (SLIP) Object to model bipedal walking. 2. A Python Function computing an approximate mapping from any initial condition to a particular event (e.g., touchdown, liftoff) at the end of certain mode of the Bipedal SLIP model. 3. A test scripts for demo. The derivation of this map has been presented in \"Approximate analytical solutions to the double-stance dynamics of the lossy Spring-Loaded Inverted Pendulum, by M. Shahbazi, U. Saranli, R. Babuska, G. Lopes\" (under review).","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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","url":"https://data.4tu.nl/articles/_/12719483/1","contentUrl":null,"metadataVersion":13,"schemaVersion":"http://datacite.org/schema/kernel-4","source":"mds","isActive":true,"state":"findable","reason":null,"viewCount":0,"viewsOverTime":[],"downloadCount":0,"downloadsOverTime":[],"referenceCount":1,"citationCount":0,"citationsOverTime":[],"partCount":0,"partOfCount":0,"versionCount":0,"versionOfCount":0,"created":"2015-08-12T11:28:04.000Z","registered":"2015-08-12T11:28:05.000Z","published":"2015","updated":"2021-10-31T16:53:45.000Z"},"relationships":{"client":{"data":{"id":"delft.data4tu","type":"clients"}},"provider":{"data":{"id":"scpr","type":"providers"}},"media":{"data":{"id":"10.4121/uuid:fd95d86d-fa01-4faa-b6e5-eeb92345be8a","type":"media"}},"references":{"data":[{"id":"10.1109/icra.2015.7140005","type":"dois"}]},"citations":{"data":[]},"parts":{"data":[]},"partOf":{"data":[]},"versions":{"data":[]},"versionOf":{"data":[]}}}}