Cheetahs and beetles run, dolphins and salmon swim, and bees and birds fly with grace
and economy surpassing our technology. Evolution has shaped the breathtaking abilities of …

Research on the biomechanics of animal and human locomotion provides insight into basic
principles of locomotion and respective implications for construction and control. Nearly …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

How should biological behaviour be modelled? A relatively new approach is to investigate
problems in neuroethology by building physical robot models of biological sensorimotor …

No legged walking robot yet approaches the high reliability and the low power usage of a
walking person, even on flat ground. Here we describe a simple robot which makes small …

The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model
for running in numerous animal species. Although locomotion is generally considered a …

To test the λ-model version of the equilibrium point hypothesis both for feasibility and validity
with respect to the control of terrestrial locomotion, we developed a two-dimensional, eleven …

The spring-loaded inverted pendulum (SLIP) model describes well the steady-state center-of-
mass motions of a diverse range of walking and running animals and robots. Here we ask …

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 …

One of the main challenges in the design of human-like walking robots (useful for service or
entertainment applications as well as the study of human locomotion) is to obtain dynamic …