The muscles that power vertebrate locomotion are associated with springy tissues, both
within muscle and in connective tissue elements such as tendons. These springs share in …

Interest in emulating the properties of biological muscles that allow for fast adaptability and
control in unstructured environments has motivated researchers to develop new soft …

Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-
world environments. Thus, it is useful to have systems that do not depend on accurate …

Leg properties have been involved in the broad study of human walking from mechanical
energy to motion prediction of robotics. However, the variable leg elasticities and their …

We present the design of a novel compliant quadruped robot, called Cheetah-cub, and a
series of locomotion experiments with fast trotting gaits. The robot's leg configuration is …

ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the
spring-mass model for dynamic walking and running. To help bring the extensive work on …

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 …

Walking on uneven terrain is more energetically costly than walking on smooth ground, but
the biomechanical factors that contribute to this increase are unknown. To identify possible …

Neuromechanics seeks to understand how muscles, sense organs, motor pattern
generators, and brain interact to produce coordinated movement, not only in complex terrain …

The need to move over uneven terrain is a daily challenge. In order to face unexpected
perturbations due to changes in the morphology of the terrain, the central nervous system …