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