Abstract: Passive dynamic walking is an excellent tool for evaluating biped stability measures, due to its simplicity, but an understanding of the stability, in the classical definition, is required. The focus of this paper is on ...

Abstract: Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing ...

Abstract: Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based ...

Abstract: Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving ...

Abstract: In this paper, we provide not only key knowledge for friction model selection among candidate models but also experimental friction features compared with numerical predictions reproduced by the candidate models. A motordriven ...

Abstract: Quantized dynamical entropy (QDE) has recently been proposed as a new measure to quantify the complexity of dynamical systems with the purpose of offering a better computational efficiency. This paper further investigates ...