(C) Ivan Gudoshnikov, 2016
ivangudoshnikov@gmail.com
The University of Texas at Dallas

Based on: The Simplest Walking Model: Stability, Complexity, and Scaling. Garcia, M., Ruina, A., Chatterjee, A., Coleman, M. ASME Journal of Biomechanical Engineering, Vol. 120, No. 2, Pages 281-288, Apr 1998