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2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)
In a previous study, stability of a spring-mass hopping-model with variable rest length and stiffness during stance has been investigated. Here, robustness of the stable hopping solutions is addressed. For this, the basin of attraction of the stable fixed points is determined. Results show a tradeoff between maximum stability and maximum robustness. Additional velocity-dependent damping only slightly increases robustness. However, the areas of a given robustness level are enlarged. As a thirddoi:10.1109/biorob.2012.6290283 fatcat:a6mk2yrzubdqjmcqjdjmrgiogy