Compendium on Robotic Locomotion

Locomotion is a marvel of evolution that I have been fascinated with for many years. Not only does its study heighten one's appreciation for nature's engineering acumen, but, like any good problem, it makes demands from many fields, giving you an excuse to learn a lot in the process!

Good readings on this subject can be found in the syallabus of MIT 2.74 Biomimetic Robotics by Sangbae Kim.

Alexander1984 is a good introduction to basic walking mechanics.

Other readings from the class I have to look at more:

2. Hogan1987, Impedance Control
3. WensingEtAl2016, Proprioceptive Actuator Design in the MIT Cheetah
4. FullKoditschek1999, Neuromechanics of Legged Locomotion
5. Ijspeert2014, Biorobotic Locomotion

Subjects TODO:

• Early walking machines in 20th century
• Andy Ruina, Cornell
• Marc Raibert, MIT Leg Lab