State of the Art in Bipedal Robots Based on Limit Cycle Walking Paradigm

This paper presents information focused upon state of the art bipedal robots based on the paradigm of limit cycle walking. This paradigm consists of reducing the constraints that are used in the joints of the robot, and allowing robot inertia forces to provide energy for its movement. In this way, it is possible to obtain higher energy efficiency and better disturbance rejection. A review of robots based upon this paradigm is provided. The main challenge of these robots is on involving increasing versatility and disturbance rejection.