Dynamic bipedal robots, which are capable of versatile behaviour, are rare. Most bipedal robots are either versatile and static or dynamic and limited to specific gaits. Over the last twenty years the bio-inspired spring mass model became a versatile template for bipedal walking and running gaits with many studies motivated...
Cursorial ground birds are paragons of bipedal running that span a
500-fold mass range from quail to ostrich. Here we investigate the
task-level control priorities of cursorial birds by analysing how they
negotiate single-step obstacles that create a conflict between body
stability (attenuating deviations in body motion) and consistent leg...
Rapid unloading and a peak in power output of the ankle joint have been widely
observed during push-off in human walking. Model based studies hypothesize that this
push-off to causes redirection of the body center of mass just before touch-down of the
leading leg. Other research suggests, that work done...