519 (ie, controlled) robotic walkers, an analytic framework that would systematically clarify
the stability properties of the compass-gait biped is required. As a matter of fact, the Poincaré …

Owing to their nonlinear structures and dynamics, bipedal walking robots are commonly
used as appropriate case studies for nonlinear modeling and control. In this study, the …

In this paper, we present dead-beat control of a torso-actuated rimless wheel model. We
compute the steady state walking gait using a Poincaré map. When disturbed, this walking …

Passive walkers are dynamically stable robots with a gait that resembles the human
locomotion. These walkers can be studied to better understand the dynamic behavior of the …

The 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as a
first simple case of passive walker. Usually, it is modelled as a hybrid dynamical system …

In this study, we present the first passive walking model to have exact anthropomorphic
physical parameters in addition to the ability to closely reproduce the dynamic gait of …

We present a method to drastically reduce the required number of degrees-of-freedom
(DOFs) needed for walking for each leg of bipedal robots and lower-limb exoskeletons. This …

Passive dynamic walking usually refers to a kind of walking where a biped walker is able to
walk downhill, without any actuation or control, just due to the gravity. Although most of …

The focus of studies in the field of passive walking has often been on straight walking, while
less attention has been paid to the field of turning motions. In this paper, the passive motions …

The 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as a
first simple case of passive walker. Usually, it is modelled as a hybrid dynamical system …