Some embodiments are directed to a lower limb articulation for bipedal locomotion, which
includes a first element a second element and articulation devices for articulating the first
and second elements relative to one another, the articulation devices including an
articulation mechanism including first and second linking devices mounted in series, as well
as devices for guiding and locking in position one of the first and second elements relative to
the other one of the first and second elements when the lower limb comes to rest on a …