Understanding Energy Optimal Locomotion in Legged (Robotic) Systems

We are particularly interested in the impact of the mechanical dynamics that are inherent to any legged system.  These dynamics couple the natural motion of a mechanical system to its morphology, and we hypothesize that exploiting natural dynamic motion can facilitate energetically economic locomotion.  Another important focus of our research is in the investigation of the choice of gait.  Should legged robots -similar to animals- change their gait as they change speed?  Which gaits are useful for robots?  Which aspects of the design of the robot influence the choice of gait and which design elements are necessary to facilitate different gaits?