As the industrial requirements change at a rapid pace due to the drastic evolution of
technology, the necessity of quickly investigating potential system alternatives towards a …

Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …

This paper presents the design and implementation of a bounding controller for the MIT
Cheetah 2 and its experimental results. The paper introduces the architecture of the …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and
underactuated bipedal walking, but has significant implementation difficulties when applied …

The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of
enhancing both energy efficiency and agility of dynamic locomotion. While the potential …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

This paper presents a human-inspired control approach to bipedal robotic walking: utilizing
human data and output functions that appear to be intrinsic to human walking in order to …

This paper develops feedback controllers for walking in 3D, on level ground, with energy
efficiency as the performance objective. A ssume T he R obot I s AS phere (ATRIAS) 2.1 is a …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …