. Robotic locomotion is based in a variety of instances upon cyclic changes in the shape of a robot mechanism. Certain variations in shape exploit the constrained nature of a robot's interaction with its environment to generate net motion. This is true for legged robots, snakelike robots

Robotic locomotion systems serve as a base platform for much of the field of robotics. Although the general public notion of a robot usually conjures images of either walking bipeds or wheeled mobile robots, the types of systems developed in robotics research extend far beyond these two classes

contained in this document are those of the author and should not be interpreted as representing the Configuration of robotic locomotion is a process that formulates, rationalizes and validates the robot’s mobility system. The configuration design describes the type and arrangement of traction

with the aid of a simple optimization algorithm are better able to improve the design of robot locomotion than if they were to work individually with the aid of the optimiza-tion algorithm. This result suggests that groups of designers may more effectively work in tandem with optimization algo-rithms than

A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough

This paper considers the question of controllability for systems subjected to intermittent physical constraints, which we call stratified systems. The class of stratified systems includes, but is not limited to, legged robotic locomotion, robotic grasping, cooperating robots and other

With the growth of computational power in recent years, complex autonomous robot systems have become a possibility. To increase their flexibility and adaptability, learning mechanisms are necessary for robot control. In this paper, I present two recent legged robot-systems that use machine

In this paper we discuss the application of switching control to problems in intelligent robot control. We will show a connection between research issues in robot locomotion and issues in robot gymnastics, and robot air hockey. These problems are fundamentally related to the control of redundant

This paper uses geometric methods to study basic problems in the mechanics and control of locomotion. We consider in detail the case of "undulatory locomotion," in which net motion is generated by coupling internal shape changes with external nonholonomic constraints. Such locomotion

The objective of this book is to present systematic methods for achieving stable, agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guidelines for improving the mechanical design of future