Templates and Anchors: Neuromechanical Hypothesis of Legged Locomotion on Land

by R.J. Full and D.E. Koditschek

I am not a biologist and don't quite understand the point. Generally I think they are discussing using templates to simplify the modelling of complicated locomotion of organism. They proposed two templates, SLIP (spring-loaded inverted pendulum) and LLS (lateral leg spring), trying to justify their model in biology, maybe. I can hardly find any equations in their paper, so I guess the math required to model these templates should be comparatively simple. Maybe using the Lagrangian, we may obtain the motion equation easily?