… we describe the behavior of the model when it runs, and the methods we used for choosing
the parameters and initial conditions needed to obtain reentrant passive dynamic running. …

… passive dynamic running (CPDR) implementation, we design the robot in such a way that its
natural behavior is close to running … with hip and leg springs can run for a number of steps …

… , the realization of passive-dynamic bipedal running in an … is to realize passivedynamic
bipedal running in an actual device. … analysis of walking and running have already been reported …

… a two-dimensional real physical passive dynamic running biped with knees. The device …
, we achieved stable passive dynamic running of 36 steps. The device runs at about 0.83 m/s …

… mechanism underlying passive dynamic walking (PDW) and passive dynamic running (PDR), …
Our results shed new light on the common underlying principle of passive dynamic …

… In order to effectively consider this, here we particularly focus on a passive dynamic running
biped whose behavior is generated purely from its mechanical system, and investigate how …

… "passive dynamic" vertical motion, we have now added a spring in series with the hip actuator
to use the same passive dynamic … during running to remain close to its passive dynamic …

… 3 Passive Running In this section, we derive the initial conditions that result in passive dynamic
running, … Since the variables in this section correspond to the passive dynamic case they …

… experimental studies of this ‘passive dynamic walking ’ effect. Here I report an analogous
effect for running. Of course, the practical advantage of running over walking is higher speed; …

… a passive dynamic running biped, and investigate how this influences the stability of running.
… plays a crucial role to enhance the stability of passive dynamic running. To the best of our …