Selected Topics

The Segmented Leg Model

Fundamentals of the compliant leg with two segments


The Virtual Pendulum Concept

Ground reaction forces for stabilising the body


Gait Mapping with Vertical Leg Orientation

A general system state for gait model simulations


The Gap between Walking and Running

The gait that closes the gap


Robot with Biarticular Springs

The functions of muscles revealed with a robot testbed


Relaxed Walking with Compliant Legs

The choice of Leg Stiffness for stable and robust Walking


Effects of Asymmetries in Walking

Stability and tolerance of compliant legs