In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded
Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking …

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as
throwing that take advantage of the potential energy stored in joint springs. However, the …

This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics,
which supports mathematical model development with time and effort savings. The model …

Template models are frequently used to simplify the control dynamics for robot hopping or
running. Passive limit cycles can emerge for such systems and be exploited for energy …

Ball dribbling is a central element of basketball. One main challenge for realizing basketball
robots is to achieve the stability of the periodic dribbling task. We show that the dribbling …

This paper gives a review of recent results in the field of modeling and control of hybrid
walking systems with a particular focus on the Compass Gait model. Since dynamic models …

While many advancements have been made in the development of template models for
describing upright-trunk locomotion, the majority of the effort has been focused on the stance …

This thesis addresses two main issues of devices that assist human movements: One is
stability of the coupled human-robot system, the other is how to make the human the master …

In this work, the hierarchical control strategy of template-based control for a bipedal robot is
described. The axial force of a compliant leg is redirected to a point, called the virtual pivot …

The purpose of this paper is to present a unified methodology for the derivation and
implementation of the continuous dynamics (equations of motion) and discrete dynamics …