Soft robotics and its related technologies enable robot abilities in several robotics domains
including, but not exclusively related to, manipulation, manufacturing, human–robot …

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …

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 …

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 …

This paper presents implementation of a highly dynamic running gait with a hierarchical
controller on the MIT Cheetah. The developed controller enables high-speed running of up …

Biped robots have better mobility than conventional wheeled robots, but they tend to tip over
easily. To be able to walk stably in various environments, such as on rough terrain, up and …

We have been trying to induce a quadruped robot to walk with medium walking speed on
irregular terrain based on biological concepts. We propose the necessary conditions for …

The paper reports on a project to make a quadruped robot walk with medium forward speed
on irregular terrain in an outdoor environment using a neural system model. The necessary …

We present a control architecture for fast quadruped locomotion over rough terrain. We
approach the problem by decomposing it into many sub-systems, in which we apply state-of …

This paper describes algorithms for the animation of men and women performing three
dynamic athletic behaviors: running, bicycling, and vaulting. We animate these behaviors …