On Recent Bio-mimetic Studies of Legged Locomotion--- Diversity, Adaptability and Energy Consumption for Hexapod, Quadruped and Biped

This paper introduces the recent active legged locomotion researches performed in RIKEN BMC from the point of view of bio-mimetic system control. It is shown how biological discoveries, such as the primitive module vector fields interpolation of spinally dissected frogs, the adaptive locomotion pattern changes of decerebrate cats as well as the energetically efficiency of human walking, can be mathematically formulated and practically realized in legged robots range from hexapod, quadruped to biped