Stability and control of two-dimensional biped walking

Human-like walking is a natural dynamic mode of a pair of coupled pendula. The mode is most easily excited by descending a shallow slope, but energy can be added and removed in several other ways to allow walking over a range of upand downhill grades. Leg geometry and mass properties can be adjusted within generous limits, a torso can be added, and a degree of jostling tolerated without upsetting the natural limit cycle. The cycle can also be modulated to vary footfalls from one step to the next, while maintaining a fluid and efficient u~alking rhythm. "School of Engineering Science. (TMCG@SFU.MAILNET, Tad-McGeer@cc.sfu.ca)

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