# Spring-loaded inverted pendulum goes through two contraction-extension cycles during the single support phase of walking

> Research article (Biology Open, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2950842921](https://www.wikidata.org/wiki/openalex:W2950842921)  
**Source**: https://4ort.xyz/entity/spring-loaded-inverted-pendulum-goes-through-two-contraction-extension-cycles-during-the-single-support-phase-of-walking