Irrespective of achieving certain success in comprehending Passive Dynamic Walking
(PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot …

The theory to analyze the relationship between the position and attitude of a link and the
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …

Bats have long captured the imaginations of scientists and engineers with their unrivaled
agility and maneuvering characteristics, achieved by functionally versatile dynamic wing …

Bipedal locomotion is among the most difficult challenges in control engineering. Most
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …

We demonstrate that an irreducibly simple, uncontrolled, two-dimensional, two-link model,
vaguely resembling human legs, can walk down a shallow slope, powered only by gravity …

Biped robots form a subclass of legged or walking robots. The study of mechanical legged
motion has been motivated by its potential use as a means of locomotion in rough terrain, as …

The focus of this work is a systematic study of the passive gait of a compass-like, planar,
biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum …

The primary goal of this paper is to demonstrate a means to prove asymptotically stable
walking in an underactuated, planar, five-link biped robot model. The analysis assumes a …

Walking is an easy task for most humans and animals. Two characteristics which make it
easy are the inherent robustness (tolerance to variation) of the walking problem and the …

We address performance limits and dynamic behaviours of the two dimensional passive-
dynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of …