Examples of biped

• For a biped motion velocity higher than 1.5 m/s, walking cannot be produced by the chosen actuator, but running is possible.

• The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution.

• We simply proposed the emotion expression of a fortythree degrees of freedom biped humanoid robot using a parameterization technique.

• Subsystem 2 represents the elastic footpad of the biped's leg.

• Figure 7 shows the sequence of experimental stick diagrams when the biped ascending the sliping surface.

• Figure 10 shows a sequence of experimental stick diagrams when the biped descending stairs.

• Actually, the coordination between the biped members causes its movement.

• The proposed control method was applied on two different biped robots, and its validity is verified experimentally.