Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …

Here, we review the modern interface of three-dimensional (3D) empirical (eg motion
capture) and theoretical (eg modelling and simulation) approaches to the study of terrestrial …

Recent work has demonstrated the success of reinforcement learning (RL) for training
bipedal locomotion policies for real robots. This prior work, however, has focused on …

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range
from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by …

In this letter, we describe an approach to achieve dynamic legged locomotion on physical
robots which combines existing methods for control with reinforcement learning. Specifically …

During high-speed running, lower limb vertical velocity at touchdown has been cited as a
critical factor needed to generate large vertical forces. Additionally, greater leg angular …

Designers of legged robots are challenged with creating mechanisms that allow energy-
efficient locomotion with robust and minimalistic control. Sources of high energy costs in …

Outside laboratory conditions and human-made structures, animals rarely encounter flat
surfaces. Instead, natural substrates are uneven surfaces with height variation that ranges …

A common approach in designing legged robots is to build fully actuated machines and
control the machine dynamics entirely in software, carefully avoiding impacts and expending …

Birds are a diverse and agile lineage of vertebrates that all use bipedal locomotion for at
least part of their life. Thus birds provide a valuable opportunity to investigate how …