... activities besides continuous level-ground walking. 1 Corresponding author. e-mail:  blaschow@uwaterloo.ca e-mail:  mcphee@uwaterloo.ca 21 06 2022 08 02 2023 06 04 2023 actuators legged locomotion prosthetics exoskeletons wearable robotics energy-efficiency...

... only for shallow slopes and is sensitive to the initial conditions and the ground slope. For example, Goswami et al. ( 4 ) showed that a biped robot exhibits period doubling bifurcation, which results in chaos at higher slopes. Biped locomotion is one of the most complex forms of legged locomotion...

... in the presence of external disturbances, including gait initiation and termination, without any precalculated trajectories. legged locomotion robot dynamics The bipedal form is the most practical mobility solution for the structured environments created for humans, and tends to be one of the most...

... locomotion stability leg angle control 15 11 2005 10 05 2006 legged locomotion pendulums gait analysis stability Point mass SLIP gait families ( v n T D , δ n T D ) for β n T D = 1.1 − 1.3 with the fixed angle leg reset protocol...