Generating optimal walking and running gaits for biped robot locomotion is an interesting problem. This group has conducted extensive computer simulations to investigate optimal gaits. Links to some of our publications are listed below.
Dadashzadeh, B., M. Esmaeili, and C. J.B. Macnab. Arbitrary symmetric running gait generation for an underactuated biped model.
Vol. 12, No. 1, DOI: e0170122, 2017.
Hasaneini, S. J., John E. A. Bertram and Chris J. B. Macnab. Energy-optimal relative timing of stance-leg push-off and swing-leg retraction in walking.
Vol. 35, No. 4, pp. 654-686, 2017.
Dadashzadehab, B., M.J. Mahjoobb, M. Nikkhah Bahramib and C.J.B. Macnab. Stable active running of a planar biped robot using Poincare map control
Vol. 28, No. 4, pp. 231-244, 2014.
Hasaneini, J., C.J.B. Macnab, J. Bertram and H. Leung. Swing-leg retraction efficiency in bipedal walking
IEEE/RSJ International Conference on Intelligent Robots and Systems
(Chicago) pp. 2515 - 2522, 2014.
Dadashzadeh, B., M.J. Mahjoob, M. Nikkhah Bahrami, and C.J.B. Macnab. Compliant leg architectures and a linear control strategy for the stable running of planar biped robots
International Journal of Advanced Robotic Systems
Vol. 10, DOI: 10.5772/56806, 2013.
Hasaneini, J., C.J.B. Macnab, J.E.A. Bertram, and H. Leung. The dynamic optimization approach to locomotion dynamics: human-like gaits from a minimally-constrained biped model
, C.J.B. Macnab, H. Leung. Optimal relative timing of stance push-off and swing leg retraction.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
(Tokyo, Japan) pp. 3616 - 3623, 2013.
Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Seven reasons to brake the swing leg just before heel strike.
(Pittsburgh) June, 2013.
International Journal of Robotics and Automation
Vol. 27, No. 1, pp. 1-14, 2012
Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Dynamic optimization clearly shows the determinants of bipedal gaits: reduced gravity predictions and verication.
(Pensacola, Florida) May 2012.
Guo, Q., C.J.B. Macnab, and J.K. Pieper. Generating
efficient rigid biped running gaits with calculated take-off
Vol. 29, No. 04, pp. 627-640, 2011
C.J.B. Macnab, J.E.A. Bertram, JEA, and H. Leung, Gravity effects on energetics and kinematics of
walking and running using dynamic optimization.
(Jena, Germany) pp. 101-102, July 2011.
Hasaneini, J., C.J.B. Macnab, H. Leung, and J. Bertram. Global optimum human-like gaits for an articulated one-legged hopper.
Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics,
(Montreal), pp. 391-396, July, 2010.
Guo, Q., C.J.B. Macnab, and J.K. Pieper, Hopping on even ground and up stairs with a single articulated leg.
International Journal of Intelligent and Robotic Systems
Vol. 53 (4), pp. 331-358, 2008
Guo, Q., C.J.B. Macnab, and J.K. Pieper, Hopping with
nearly-passive flight phases.
Proc. IEEE Int. Confs. on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics
(Chengdu, China), pp. 743-748, 2008
Guo, Q., C.J.B. Macnab, and J.K. Pieper, Bipedal running
with nearly-passive flight phases.
Proc. IEEE Int. Conf. on Advanced Intelligent Mechatronics
(Xi'an, China), pp. 564 - 569, 2008.