Human walking has previously been described as “controlled falling.” Some computational
models, however, suggest that gait may also have self-stabilizing aspects requiring little …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

Currently there is no commonly accepted way to define, much less quantify, locomotor
stability. In engineering,“orbital stability” is defined using Floquet multipliers that quantify …

The construction of more capable bipedal robots highly depends on the ability to measure
their performance. This performance is often measured in terms of speed or energy …

For research into bipedal walking machines, autonomous operation is an important issue.
The key engineering problem is to keep the weight of the actuation system small enough …

This paper introduces a bounding gait control algorithm that allows a variable-speed
running in the MIT Cheetah 2. A simple impulse planning algorithm is proposed to design …

This book presents various techniques to carry out the gait modeling, the gait patterns
synthesis, and the control of biped robots. Some general information on the human walking …

Human muscular skeleton structure plays an important role for adaptive locomotion.
Understanding of its mechanism is expected to be used for realizing adaptive locomotion of …

An antagonistic muscle mechanism that regulates joint compliance contributes enormously
to human dynamic locomotion. Antagonism is considered to be the key for realizing more …

The concept of dasiaLimit Cycle Walkingpsila in bipedal robots removes the constraint of
dynamic balance at every instance during gait. We hypothesize that this is crucial for the …