Running movements are parametrised using a wide variety of devices. Misleading
interpretations can be avoided if the interdependencies and redundancies between …

Accurate and precise terrain estimation is a difficult problem for robot locomotion in real-
world environments. Thus, it is useful to have systems that do not depend on accurate …

ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the
spring-mass model for dynamic walking and running. To help bring the extensive work on …

Birds and humans are successful bipedal runners, who have individually evolved
bipedalism, but the extent of the similarities and differences of their bipedal locomotion is …

New models and theories of legged locomotion are needed to better explain and predict the
robustly stable legged locomotion of animals and some bio-inspired robots. In this paper we …

A common approach in designing legged robots is to build fully actuated machines and
control the machine dynamics entirely in software, carefully avoiding impacts and expending …

Bipedal walking could be implemented into a robot by mimicking spring-like leg behaviour.
The fundamental model, describing human-like leg function in walking is the bipedal spring …

We understand little about how animals adjust locomotor behaviour to negotiate uneven
terrain. The mechanical demands and constraints of such behaviours likely differ from …

Swing-leg retraction was introduced as a way to improve the stability and disturbance
rejection of running robots. It was also suggested that the reduced foot speed due to swing …

During running in a natural environment, humans must routinely negotiate varied and
unpredictable changes in ground level. To prevent a fall, changes in ground level, especially …