The objective of this book is to present systematic methods for achieving stable, agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guideline
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in ne
Much of what is known about the gait-generated method is based on specified gait pattern. Yet in the wild, animals can move over terrains with widely varying properties in various gait patterns. Previous studies have realized gait types such as trot
