Underactuated robotic systems have become an important research topic aiming at
significant improvement of the behavioural performance and energy efficiency. Adopting …

The rectilinear motion of a chain of identical bodies in a viscous medium with a quadratic
law of resistance is considered. Neighboring bodies interact with each other. There are no …

We present a theoretical method for graceful transitions between distinct periodic orbits of a
fully actuated walking robot. First, a family of hybrid periodic orbits depending smoothly on a …

I would like to acknowledge a number of people who have helped me on this worthy albeit
long and arduous journey: PhD. First of all, I would like to express my deepest gratitude to …

This paper investigates transitions between periodic behaviors for the rimless wheel on flat
terrain. Control is achieved by an impulsive kick by the spoke touching the ground. We …

Problems of locomotion typically encounter switching between gaits. In many applications, it
is desirable to make such transitions between modes or gaits inconspicuous and graceful …

The optimal control problem of connecting any two trajectories with typical behavior, such
that this behavior maximally persists during the transient, is put forth and a compact solution …

Biological systems achieve energy efficient and adaptive behaviours through extensive
autologous and exogenous compliant interactions. Active dynamic compliances are created …