Increasing the Stability of The Spring Loaded Inverted Pendulum Model of Running with a Wobbling Mass

Abstract Human running can be simulated using a simple model called the spring-loaded inverted pendulum (SLIP). The SLIP model predicts some aspects of running including the self-stabilizing properties of running. In human locomotion energy is dissipated due to the passive motion of the soft tissue. However, little is known about the effects of this energy dissipation on the dynamics of running. This study utilizes a SLIP model with an additional spring-mass-damper system to study the effects of energy dissipation due to an additional wobbling mass on the self-stabilizing properties of human running. It was found that the additional spring-mass-damper system increased the self-stabilizing properties of the SLIP model and increased its robustness to perturbations. This suggests that increasing stability is one of the effects of energy dissipation due to the passive motion of a wobbling mass during human running.