Neural control of locomotion in human adults involves the generation of a small set of basic
patterned commands directed to the leg muscles. The commands are generated …

Balance is an essential capability to ensure upright standing and locomotion. Various
external perturbations challenge our balance in daily life and increase the risk for falling and …

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 …

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 …

In many simple walking models, foot placement dictates the center of pressure location and
ground reaction force components, whereas humans can modulate these aspects after foot …

Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand
is the community of researchers that bases feedback control design on pendulum models …

Lower limb exoskeletons serve multiple purposes, like supporting and augmenting
movement. Biomechanical models are practical tools to understand human movement, and …

The regulation of whole-body angular momentum is important for maintaining dynamic
balance during human walking, which is particularly challenging in the frontal plane. Whole …

Wilful movement requires neural control. Commonly, neural computations are thought to
generate motor commands that bring the musculoskeletal system—that is, the plant—from its …