Koditschek, Daniel2023-05-232018-09-032017-10-022018-09-03https://repository.upenn.edu/handle/20.500.14332/45740Let's now pursue the more algebraic and the mathematical representation of this symmetry in the spring loaded inverted pendulum, by interpreting this symmetry and merging it with the notion of neutrality.youtubehttp://creativecommons.org/licenses/by-nc/4.0/AlgebraicneutralityrepresentationEngineeringArticle