This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

Limit Cycle Walkers are bipeds that exhibit a stable cyclic gait without requiring local
controllability at all times during gait. Well-known example are McGeer's “Passive Dynamic …

In this paper, a modified passive walking biped with two distinct feasible patterns of motion is
presented. The biped has sole foot, and flexible elements are considered to model the …

Legged locomotion, such as walking, running, turning, and jum** depends strongly on the
dynamics and the biological characteristics of the body involved. Gait patterns and energy …

In this book, Martijn Wisse and Richard Q. van der Linde provide a detailed description of
their research on pneumatic biped robots at the Delft University of Technology, The …

This book reports on the developments of the bipedal walking robot Lucy. Special about it is
that the biped is not actuated with the classical electrical drives but with pleated pneumatic …

This paper presents a bipedal locomotion model for passive dynamic walking with flat feet
and compliant ankles. The two-dimensional seven-link model extends the simplest walking …

In this study, we present the first passive walking model on a slope to have exact
anthropomorphic physical parameters in addition to the ability to closely reproduce the …

This paper details a decentralized passivity-based control (PBC) to improve the robustness
of biped locomotion in the presence of gait-generating external torques and parametric …

Most of traditional biped walkers based on passive dynamic walking have arc feet and
locked ankle joints. In this paper, we propose the method to substitute the arc feet with flat …