Most existing transtibial prostheses are energetically passive. Their ankle joints are either
rigid or rotatable in a limited range, and their feet are single-segment structures without toe …

Biped robots are similar to human beings in the context of physical appearance and joint
configurations. The structure of the biped robot is strong, complex having multiple degrees of …

A biped dynamic walker with two legs and two feet capable of walking in double support
phase and allowing starting the gait cycle from rest position is proposed. The walker is …

Robotic transtibial prostheses are gaining popularity, as they significantly improve
amputees' locomotion. Existing studies mainly concentrate on the importance of ankle joints …

This paper presents a robust biped dynamic walker based on the virtual slope, which
introduces the driving force in the walking direction. Virtual passive dynamic walker as a …

This paper presents the RL framework for walking of a 6DOF planar bipedal robot with a
prismatic knee joint. The prismatic knee joint allows the robot to adapt to varying terrain and …

This article presents the limit-cycle walking of a three-link biped robot consisting of a torso,
two knee-locked legs, and point feet. The robot has three degrees of freedom, with its …

The influence of foot geometry on energy efficiency in bipedal walking is investigated. A
method for the optimization of the foot geometry of a bipedal robot is developed. It is based …