This paper presents a methodology for achieving efficient multi-domain underactuated
bipedal walking on compliant robots by formally emulating gaits produced by the Spring …

In this work, we use first principles of kinematics to provide a fundamental insight into
mechanical power distribution within multi-actuator machines. Individual actuator powers …

This paper presents a formal framework for achieving multi-contact bipedal robotic walking,
and realizes this methodology experimentally on two robotic platforms: AMBER2 and …

Bipedal robots represent a unique class of control problems that combine many of the most
difficult elements of nonlinear control. These robots are typically designed to be mobile and …

The spring-mass locomotion paradigm is showing great promise as a template for agile and
efficient robots. Efficiency and stability are enabled by the passive generation of locomotion …

In this paper, we study the effect of alternative leg designs on energy consumption in legged
locomotion. Focusing on gaits with constant horizontal velocity and constant height we …

Models of bipedal locomotion are hybrid, with a continuous component often generated by a
Lagrangian plus actuators, and a discrete component where leg transfer takes place. The …

This thesis details the derivation and application of template-based controls on a bipedal
robot, as well as a description of the software framework that enabled experimentation. The …

Legged robots enjoy kilohertz control rates but are still making incremental gains towards
becoming as nimble as animals. In contrast, bipedal animals are amazingly robust runners …

The ATRIAS agile humanoid robot, along with a number of other spring-mass walking
machines, currently have two instabilities: one resulting from inertial forces on the torso …