Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …

Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

Control systems for powered prosthetic legs typically divide the gait cycle into several
periods with distinct controllers, resulting in dozens of control parameters that must be tuned …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the
spring-mass model for dynamic walking and running. To help bring the extensive work on …

This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic
locomotion. This robot matches or exceeds common performance metrics of state-of-the-art …

Recent powered (or robotic) prosthetic legs independently control different joints and time
periods of the gait cycle, resulting in control parameters and switching rules that can be …

We apply fast online trajectory optimization for multi-step motion planning to Cassie, a
bipedal robot designed to exploit natural spring-mass locomotion dynamics using …

This paper introduces a new four-limbed robot, LEMUR 3, that has demonstrated climbing
on cliff faces and smooth glass. Each limb on the robot consists of seven identical actuators …

Powered knee and ankle prostheses can perform a limited number of discrete ambulation
tasks. This is largely due to their control architecture, which uses a finite-state machine to …