Koditschek, Daniel2023-05-232018-09-032017-10-022018-09-03https://repository.upenn.edu/handle/20.500.14332/45739The return map analysis is the most important moment in the course. It's the point in the course where all those complicated things that we've been leading up to are going to turn out to be analyzable and they'll be analyzable in a way that gives us really, really important conclusions about the fore-aft motion of the spring loaded inverted pendulum.youtubehttp://creativecommons.org/licenses/by-nc/4.0/GeometricpendulumdecoupledEngineeringArticle