We examine two prevailing, yet surprisingly contradictory, theories of human walking. The
six determinants of gait are kinematic features of gait proposed to minimize the energetic …

Traditionally, in robotics, artificial intelligence, and neuroscience, there has been a focus on
the study of the control or the neural system itself. Recently there has been an increasing …

Biped robots have gained much attention for decades. A variety of researches have been
conducted to make them able to assist or even substitute for humans in performing special …

This chapter introduces the paradigmLimit Cycle Walking'. This paradigm for the design and
control of two-legged walking robots can lead to unprecedented performance in terms of …

Analysis and controller design methods abound in the literature for planar (also known as 2-
D) bipedal models. This paper takes one of them developed for underactuated bipeds and …

Robot walking, while appealing for its resemblance to human motion, is not an obvious
choice when both economy and versatility are desired. Wheeled vehicles are surprisingly …

An antagonistic muscle mechanism that regulates joint compliance contributes enormously
to human dynamic locomotion. Antagonism is considered to be the key for realizing more …

This paper demonstrates how numerical optimization techniques can efficiently be used to
create self-stable running motions for a human-like robot model. Exploitation of self-stability …

In this article, we presented our passive-based biped Denise. Using only two foot contact
switches as sensors and simple on/off pneumatic muscle action, it walks at 0.4 m/s and can …

抄録 We have proposed a new leg-wheel hybrid mobile robot named “Roller-Walker”. Roller-
Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode …