A review of human walking modeling and simulation is presented. This review focuses on
physics-based human walking simulations in the robotics and biomechanics literature. The …

Irrespective of achieving certain success in comprehending Passive Dynamic Walking
(PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot …

We demonstrate that an irreducibly simple, uncontrolled, two-dimensional, two-link model,
vaguely resembling human legs, can walk down a shallow slope, powered only by gravity …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

The focus of this work is a systematic study of the passive gait of a compass-like, planar,
biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum …

It is well-known that a suitably designed unpowered mechanical bipedrobot can “walk” down
an inclined plane with a steady periodicgait. The energy required to maintain the motion …

Lower-limb exoskeletons are external mechanical structures that support and assist human
users during locomotion. The earliest studies on exoskeletons date back to the 1960s …

The focus of this survey is the modeling and control of bipedal locomotion systems. More
specifically, we seek to review the developments in the field within the framework of stability …

We address performance limits and dynamic behaviours of the two dimensional passive-
dynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of …

This paper discusses the mechanics of a rigid rimless spoked wheel, or regular
polygon,'rolling'downhill. By 'rolling', we mean motions in which the wheel pivots on one …