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It is well-known that a suitably designed unpowered mechanical bipedrobot can “walk” down an inclined plane with a steady periodicgait. The energy required to maintain the motion comes from theconversion of the biped's gravitational potential energy as itdescends. Investigation of such passive natural motions maypotentially lead us to strategies useful for controlling activewalking machines as well as to understand human locomotion.
Autonomous Robots – Springer Journals
Published: Sep 21, 2004
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