Abstract :
This book is based on the dissertations of its authors, who constructed a series of five bipeds, starting with a McGeer-like planar, torso-less, passive walker and finishing with Denise, a 3D-biped with torso and arms, which uses arguably the simplest possible sensing, actuation, and feedback control system capable of achieving stable walking on a flat surface. The material has been rewritten and edited to arrive at a very compact, informative, and enjoyable presentation. The emphasis is on achieving energy-efficient walking on a flat surface through the effective use of the natural dynamics of highly underactuated machines.
