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Andy Ruina
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Journal Articles

Steinkamp's Toy Can Hop 100 Times But Can't Stand Up

Gregg Stiesberg, Tim van Oijen, Andy Ruina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011017.
Paper No: JMR-16-1265
https://doi.org/10.1115/1.4035337
Published Online: January 13, 2017
View Articletitled, Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
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Topics: Eigenvalues, Simulation, Springs, Stability, Damping, Limit cycles, Engineering simulation, Robots
Includes: Supplementary data
Journal Articles

Discrete-Decision Continuous-Actuation Control: Balance of an Inverted Pendulum and Pumping a Pendulum Swing

Pranav A. Bhounsule, Andy Ruina, Gregg Stiesberg
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2015, 137(5): 051012.
Paper No: DS-14-1118
https://doi.org/10.1115/1.4028851
Published Online: May 1, 2015
View Articletitled, Discrete-Decision Continuous-Actuation Control: Balance of an Inverted Pendulum and Pumping a Pendulum Swing
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Topics: Control equipment, Delays, Pendulums, Design
Journal Articles

The Simplest Walking Model: Stability, Complexity, and Scaling

Mariano Garcia, Anindya Chatterjee, Andy Ruina, Michael Coleman
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Technical Papers
J Biomech Eng. April 1998, 120(2): 281–288.
https://doi.org/10.1115/1.2798313
Published Online: April 1, 1998
View Articletitled, The Simplest Walking Model: Stability, Complexity, and Scaling
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Topics: Stability, Cycles, Collisions (Physics), Dynamics (Mechanics), Gravity (Force), Limit cycles, Scaling laws (Mathematical physics)