University of Sussex

File(s) not publicly available

Time and Motion Studies: The Dynamics of Cognition, Computation and Humanoid Walking

posted on 2023-06-07, 20:11 authored by Inman HarveyInman Harvey, Eric Vaughan, Ezequiel Di Paolo
Abstract. Why is walking easy for us and difficult for robots? The conceptual framework of traditional Artificial Intelligence, and constraints from the background of industrial robot designers, means that commercial humanoid design has often ignored the role of natural dynamics of a mechanical system, as illustrated in a Passive Dynamic Walker. We show, using a Dynamical Systems approach and Evolutionary Robotics, how power and control can be added to such systems, demonstrating bipeds in simulation with many degrees of freedom that can walk, balance on a moving platform, and run.


Publication status

  • Published



Presentation Type

  • paper

Event name

HART 2004, Fourth Intl. Symp. on Human and Artificial Intelligence Systems: From Control to Autonomy

Event location

Fukui, Japan

Event type


Department affiliated with

  • Informatics Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date


Usage metrics

    University of Sussex (Publications)


    No categories selected