Implicit control law in passive dynamic walking

We were intended to find a core principle of 'Realtime Environmental Adaptive Motion Ability(REAMA)' and devised a structure hypothesis of various movement intellect so far. In this note, we show a particular solution of the REAMA Problem as the first step. Doing so, we try to show the existence of a general solution of the REAMA Problem. Concretely, we introduce a simple but very important example. The example is a kind of passive dynamic walking phenomenon and we can find Implicit Control Law in it.