Fields studying movement generation, including robotics, psychology, cognitive science,
and neuroscience utilize concepts and tools related to the pervasiveness of variability in …

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 …

This study quantified the relationships between local dynamic stability and variability during
continuous overground and treadmill walking. Stride-to-stride standard deviations were …

Traditional methods of describing human locomotion involve collecting gait data for a
number typically 5 to 10 of independent and isolated strides, time-normalizing the data from …

The focus of this study was to examine the role of walking velocity in stability during normal
gait. Local dynamic stability was quantified through the use of maximum finite-time …

The focus of this paper is the problem of foot rotation in biped robots during the single-
support phase. Foot rotation is an indication of postural instability, which should be carefully …

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 …

This paper presents a human-inspired control approach to bipedal robotic walking: utilizing
human data and output functions that appear to be intrinsic to human walking in order to …

In this note, we investigate the relationship between nonlinear control and passive walking
in bipedal locomotion for the general case of an n degree-of-freedom biped in three …

The focus of this survey is the modeling and control of bipedal locomotion systems. More
specifically, we seek to review the developments in the field within the framework of stability …