Limit cycles occur in a wide range of nonlinear and hybrid systems including dynamic
walking. While methods for determining local stability of limit cycles are available, they are …

Natural dynamic controllers aim to perform the desired task by exploiting the natural
dynamics of the system. This can be accomplished by generating torque patterns to actuate …

Passive dynamic walking models are capable of capturing basic properties of walking
behaviors and can generate stable human-like walking without any actuation on downhill …

We have previously suggested a biologically-inspired natural dynamic controller for biped
locomotion, which applies torque pulses to the different joints at particular phases of an …

There is a growing interest in biologically-inspired, dynamic control of walking robots,
especially for efficiency and robustness. The bio-inspired Central Pattern Generator (CPG) is …