Research issues in natural and artificial biped locomotion systems

This paper presents a review on biological and robotic biped locomotion systems. The main purpose is to study the achievements attianed in the last years and to develop a deeper insight towards future research. In the past decade a significant progress in the cooperation between biology and robotics has been made as researchers recognise the synergies in the two scientific areas. This cooperation stmilated the development of experimental legged vehicles and adequate control algorithms. The ultimate purpose of this article is to contribute toward the productive interaction between these two fields.N/