Humans can walk efficiently in a certain speed range, while state-of-the-art biped robots can
hardly walk as fast as humans. In this paper, we investigate how to walk faster for two simple …

The Spring-Loaded Inverted Pendulum (SLIP) is one of the simplest models of robot
locomotion. SLIP is commonly used to predict the center of mass motion and derive simple …

Behaviors of animal bipedal locomotion can be described, in a simplified form, by the
bipedal spring-mass model. The model provides predictive power, and helps us understand …

Body balance and velocity tracking are important for biped robots, especially under-actuated
robots, walking on uneven ground. This paper presents a motion control strategy for the …

Planar mechanisms dominate modern designs of legged robots with remote actuator
placement for robust agility in ground mobility. This paper presents a novel design of robotic …

This paper introduces a novel bipedal robot model designed for adaptive transition between
walking and running gaits solely through changes in locomotion speed. The bipedal robot …

Humans can balance very well during walking, even when perturbed. But it seems difficult to
achieve robust walking for bipedal robots. Here we describe the simplest balance controller …