This summary contains pictures which I do not own. If you are an ETH student and would like to have them, please contact me.
Based on the on work of F. Graube, C. Häberling, J. Mueller, M.Grimm, R. Käslin (SS 2018) and Fabian Blöchiger (SS 2016).
Converted to LaTeX and enhanced for the lecture of the Spring semester 2019 by Thomas Etterlin.
Additions in "Legged Robotics" and "Gait Stability" for the 2020 lecture by Ardian Selmonaj.
No guarantees for correctness, please report errors.