Chapter 3 – Conceptual Models of Legged Locomotion

Abstract This chapter provides an overview of simple conceptual models of locomotion at the scale of whole body movements. First, conceptual models of locomotion are introduced along with a few key empirical observations that support the construction of simple conceptual models. Next, a theoretical perspective is offered based on “templates and anchors” theory, where templates are related to simple conceptual models. Commonly used models of legged locomotion are then presented: The Spring-Loaded Inverted Pendulum (SLIP) model of running and the Inverted Pendulum (IP) model of walking. Legged locomotion is next presented in terms of oscillatory behavior and oscillatory-based analysis. Finally, readers are taken on a tour of a “model zoo” featuring many extensions of the SLIP and IP models to more complex and realistic models.