The Art and Science of Robotic Movement

This chapter explores the intricate balance between scientific principles and artistic intuition in developing humanoid and legged robots. It highlights the challenges of creating natural movement, the importance of design aesthetics, and the historical evolution of gait programming, particularly in the humanoid robot Atlas. The discussion also examines the complexities of locomotion, underactuation, and the unique difficulties faced by humanoid robots in achieving stability and efficiency.

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