Understanding the Mechanism of Multi-timescale Integration Underlying Bipedal Locomotion

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This study aims to propose a novel control law for a bipedal walking and running robot and develop the robots with the proposed control law for the engineering design, by focusing "Multi-timescale integration for spatiotemporal pattern generation". As a result, we have clarified the mechanism of multi-timescale integration, achieved a real-world passive bipedal running, and proposed a design methodology that well fits with the self-stabilization mechanism underlying passive dynamic running.