Running movements are parametrised using a wide variety of devices. Misleading
interpretations can be avoided if the interdependencies and redundancies between …

Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐
linear structure of humanoid robots and frequent robot–environment interactions. To realise …

This paper provides a legged stable walking control strategy based on multi-sensor
information feedback about BIT-NAZA-II, a large load parallel hexapod wheel-legged robot …

This paper introduces a bounding gait control algorithm that allows a variable-speed
running in the MIT Cheetah 2. A simple impulse planning algorithm is proposed to design …

Cursorial ground birds are paragons of bipedal running that span a 500-fold mass range
from quail to ostrich. Here we investigate the task-level control priorities of cursorial birds by …

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 …

This paper presents a bio-inspired quadruped controller that allows variable-speed
galloping. The controller design is inspired by observations from biological runners …

As a versatile template characterizing the center of mass movements in legged locomotion,
the sagittal spring-loaded inverted pendulum (SLIP) model has been extensively explored in …

The spring-loaded inverted pendulum (SLIP) model has been proven successfully applied to
implement spring-like walking for biped robots. This work presents a compliant leg …

The spring loaded inverted pendulum (SLIP) has been extensively studied and used as a
model capturing general aspects of legged locomotion. Biological data suggest that legs …