The purpose of this presentation is to introduce a novel approach to robot design and control for walking. The advantage of the design is, besides its mechanical simplicity, the resulting modeling simplicity and the subsequent potential for mathematical analysis. Walking and running robots are well known for the analytical challenges caused by the high dimensionality of the model, as well as the intermittent nature of the dynamics. The proposed robot designs offer the potential for a practical platform which is also amenable to mathematical analysis.
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