Achieving Bipedal Running with RABBIT: Six Steps toward Infinity

1 Control Systems Laboratory, EECS Department, University of Michigan, Ann Arbor, Michigan 48109-2122, USA, {MorrisBJ,Grizzle}@umich.edu 2 Locomotion and Biomechanics Laboratory, Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210, USA, [email protected] 3 IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, BP 92101, 1 rue de la Noë, 44321 Nantes, cedex 03, France, [email protected] 4 LAG, Ecole Nationale d’Ingénieurs Electriciens de Grenoble, BP 46, 38402 St Martin d’Hères, France [email protected]