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The bipedal robot model comprises two sub-components: a mechanical model for the legs that accommodates both walking and running and a continuous state model that does not explicitly switch states. The mechanical model employs a structure combining a linear cylinder with springs, dampers, and stoppers, designed to have mechanistic properties of both the inverted pendulum model used for walking and the spring-loaded inverted pendulum model used for running. The state model utilizes a virtual leg representation to abstractly describe the actual support leg, capable of commonly representing both a double support leg in walking and a single support leg in running. These models enable a simple gait controller to determine the kick force and the foot touchdown point based solely on the parameter of the target speed, thus allowing a robot to walk and run stably. Hence, simulation validation demonstrates the adaptive robot transition to an energy-efficient gait depending on locomotion speed without explicit gait-type instructions and maintaining stable locomotion across a wide range of speeds.<\/jats:p>","DOI":"10.1017\/s0263574724002248","type":"journal-article","created":{"date-parts":[[2025,1,26]],"date-time":"2025-01-26T19:28:12Z","timestamp":1737919692000},"page":"868-886","source":"Crossref","is-referenced-by-count":3,"title":["A simple bipedal robot model demonstrating speed-dependent gait transition"],"prefix":"10.1017","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0265-3710","authenticated-orcid":false,"given":"Hirofumi","family":"Shin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuhei","family":"Ikemoto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2025,1,27]]},"reference":[{"key":"S0263574724002248_ref33","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(90)90042-2"},{"key":"S0263574724002248_ref53","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574723001443"},{"key":"S0263574724002248_ref4","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2012.0908"},{"key":"S0263574724002248_ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3321396"},{"key":"S0263574724002248_ref41","first-page":"3047","article-title":"Biomechanics of spontaneous overground walk-to-run transition","volume":"216","author":"Segers","year":"2013","journal-title":"J. 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