Abstract

Quantifying robustness of legged locomotion is essential toward developing more capable robots with legs. In this work, we study underactuated biped walking models. For such systems, various sources of disturbance can be introduced for robustness analysis. While keeping the methods generic, this paper focuses on two-legged loco- motion and studies stability on rough terrain, or equivalently, robustness to terrain disturbance. (From paragraph one.)