A healthy gait pattern depends on an array of biomechanical features, orchestrated by the
central nervous system for economy and stability. Injuries and other pathologies can alter …

Locking devices are widely used in robotics, for instance to lock springs and joints or to
reconfigure robots. This review article classifies the locking devices currently described in …

Robot walking, while appealing for its resemblance to human motion, is not an obvious
choice when both economy and versatility are desired. Wheeled vehicles are surprisingly …

The compass-gait biped robot is a two-DoF legged mechanical system that has been known
by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive …

本文研究了圆弧足被动行走器支撑足与地面间的摩擦系数和滚阻系数对被动行走器步态的影响.
首先分别利用扩展的赫兹接触力模型和LuGre 摩擦模型描述了支撑足与地面接触点处的法向 …

Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …

Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner
of the world. On land, legged morphologies have evolved to manifest magnificent mobility …

A key challenge in robotic bipedal locomotion is the design of feedback controllers that
function well in the presence of uncertainty, in both the robot and its environment. This paper …

This paper presents a unified framework for the design and development of a passive biped
robot and of its digital twin. A serial procedure is followed starting from the system's physical …

This paper extends the use of virtual constraints and hybrid zero dynamics (HZD), a
successful control strategy for point-foot bipeds, to the design of controllers for planar curved …