The authors have built the first 3D, kneed, two-legged passive-dynamic walking machine. Since the work of T. McGeer (1990, 1991), the concept of passive dynamics has added insight into animal locomotion and the design of anthropomorphic robots. Vari
This paper revisits the simplest passive walking model by Garcia et al. which displays chaos through period doubling from a stable period-1 gait. By carefully numerical studies, two new gaits with period-3 and -4 are found, whose stability is verifie
Inspired by the biological concept of central pattern generators (CPGs), this paper deals with adaptive walking control of biped robots. Using CPGs, a trajectory generator is designed consisting of a center-of-gravity (CoG) trajectory generator and a
