By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityoft

This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on

The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such

Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the