Birds and humans are successful bipedal runners, who have individually evolved
bipedalism, but the extent of the similarities and differences of their bipedal locomotion is …

In this article, a fast terminal sliding mode control technique is used for robust tracking
control of a nonlinear uncertain mass–spring system in the existence of external …

While a number of controllers exist for dynamic humanoid walking over known uneven
terrain, the ability to negotiate moderate changes in ground height without environment …

Properly designing a system to exhibit favorable natural dynamics can greatly simplify
designing or learning the control policy. However, it is still unclear what constitutes favorable …

This paper presents the self-stabilisation features of a hop** gait during underwater
legged locomotion. We used a bio-inspired fundamental model of this gait, the underwater …

The Dual-SLIP model has been proposed as a walking template that inherently encodes a
rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired …

This work demonstrates a simple, once per step, flight-control method for robots running on
a planar unknown rough-terrain environment. The robot used to exemplify these control …

In this work a punting gait model, describing a robot running underwater, is studied with
respect to unknown variations of the ground and design parameters of the robot. The model …

In running, humans use different control strategies that are most likely influenced by
environmental conditions. For example, when human runners face a change in ground level …

The ability to run across uneven terrain with continuous stable movement is critical to the
safety and efficiency of a runner. Successful step-to-step stabilization while running may be …