Animals are much better at running than robots. The difference in performance arises in the
important dimensions of agility, range, and robustness. To understand the underlying …

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

Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex,
heterogeneous natural environments typically using undulatory body wave propagation …

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 …

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 …

Habitual bipedalism is considered as a major breakthrough in human evolution and is the
defining feature of hominins. Upright posture is presumably less stable than quadrupedal …

Legged animals routinely negotiate rough, unpredictable terrain with agility and stability that
outmatches any human-built machine. Yet, we know surprisingly little about how animals …

This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots.
One of the purposes of building the mechanism is to explore a novel powertrain design that …

We currently know little about how animals achieve dynamic stability when running over
uneven and unpredictable terrain, often characteristic of their natural environment. Here we …