This paper addresses some performance limits of the kneed and non-kneed passive-dynamic walking machines discovered by McGeer [10, 11]. Energetic inefficiency is measured by the s...
This paper reports how and to what extent the mass distribution of a passive dynamic walker can be tuned to maximize walking speed and stability. An exploration of the complete pa...
We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods a...
C. David Remy, Keith W. Buffinton, Roland Siegwart