The main contribution of this thesis is a new and simple angular momentum based control
algorithm for balancing an under-actuated planar robot. The proposed controller is able to …

A small, bio-inspired and minimally actuated intermittent hopping robot for planetary surface
exploration is proposed in this paper. The robot uses a combined-geared six-bar …

Even before the word “robot” was formally introduced the goal has been to create a synthetic
system in our image. Clearly, human-like or biologically more realistic robots have a much …

This thesis focuses on offline running synthesis and online running control designs for
robots with one and two articulated legs. Since no compliant parts are used in the hardware …