Hello

I have been trying to simulate the Raibert's one-legged hopper in his paper: " Hopping in Legged systems-modelling and simulation for the two-dimensional one-legged case", but it seems like the parameter values given in the paper for the controller are not correct. I have been able to simulate the SLIP model with this control approach but not the model in this paper. Has anyone been able to simulate it?

Regards,

Ata G. Khiabani