Bipedalism evolved multiple times in animals and can be found in extant birds (Ratites), mammals (humans, kangaroos, apes), and even in some lizards. Bipedal locomotion is a more complicated form of legged locomotion, compared to quadrupedalism, where a heavy, horizontal trunk and a second pair of legs simplifies static stability and locomotion substrate interaction. It is exceptional to see so many diverse body plans achieving the bipedal locomotion task.
We are researching a range of bipedal body morphologies, their corresponding locomotion control, and the effect of sensing modalities in bipedal hardware and simulated robots. We collaborate with experts in functional Biology and neuromuscular control in animals to directly compare our insights to living animals.
