Anthropomorphic multibody models typically have a fragile sense of balance and generate ground reaction force profiles that do not look similar to experimentally measured human ground reaction force profiles. In contrast, the point-mass spring-loaded-inverted-pendulum (SLIP) can be made to walk or run in a balanced manner with centerof-mass kinematics and ground reaction force profiles that could be mistaken for the equivalent human data. A stance limb controller is proposed that uses a planar

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... LIP to compute a reference trajectory for a planar anthropomorphic multibody gait model. The torso of the anthropomorphic model is made to track the computed trajectory of the SLIP using a feedback control system. The aim of this partitioned approach to gait simulation is to endow the anthropomorphic model with the human-like gait of the simpler SLIP model.