“Limit Cycle Walking” is a relatively new paradigm for the design and control of two-legged
walking robots. It states that achieving stable periodic gait is possible without locally …

A planar compass-like biped on a shallow slope is one of the simplest models of a passive
walker. It is a 2-degree-of-freedom (DOF) impulsive mechanical system that is known to …

In this paper, a modified passive walking biped with two distinct feasible patterns of motion is
presented. The biped has sole foot, and flexible elements are considered to model the …

Controlled passive walking is an approach that extends the passive walking by adapting the
compliance of the joints. Natural motions can be chosen in order to obtain a controllable and …

Toward our comprehensive understanding of legged locomotion in animals and machines,
the compass gait model has been intensively studied for a systematic investigation of …

Throughout the history of robotics research, nature has been providing numerous ideas and
inspirations to robotics engineers. Small insect-like robots, for example, usually make use of …

Human walking is an action with low energy consumption. Passive walking models (PWMs)
can present this intrinsic characteristic. Simplicity in the biped helps to decrease the energy …

This paper assesses the energy efficiency of a redundant actuation architecture combining
Quasi-Direct Drive (QDD) motors and Series Elastic Actuators (SEAs) by comparing its …

We have made a systematic study of the gait of a straight leg planar passive walking model
through simulations and experiments. Three normalised parameters, which represent the …

The 'heel to toe'rolling contact has a great influence on the dynamics of biped robots. Here
this contact is modelled using the roll-over shape defined in the local co-ordinate system …