1. Guest Editorial

   • Yuan F. Zheng

   Legacy Pages: 225 - 226

2. Rocking, Tapping and Stepping: A Prelude to Dance

   • Laci Jalics
   • Hooshang Hemami
   • Alan Groff

   OriginalPaper Pages: 227 - 242

3. A Control Strategy for Terrain Adaptive Bipedal Locomotion

   • Laci Jalics
   • Hooshang Hemami
   • Bradley Clymer

   OriginalPaper Pages: 243 - 257

4. Slipping and Tripping Reflexes for Bipedal Robots

   • Gary N. Boone
   • Jessica K. Hodgins

   OriginalPaper Pages: 259 - 271

5. Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

   • Ambarish Goswami
   • Bernard Espiau
   • Ahmed Keramane

   OriginalPaper Pages: 273 - 286

6. Control of a Biped Walking Robot during the Double Support Phase

   • K. Mitobe
   • N. Mori
   • N. Adachi

   OriginalPaper Pages: 287 - 296

7. Adaptive Gait Control of a Biped Robot Based on Realtime Sensing of the Ground Profile

   • Shuuji Kajita
   • Kazuo Tani

   OriginalPaper Pages: 297 - 305

8. Biped Locomotion by Reduced Ankle Power

   • Keon Young Yi
   • Yuan F. Zheng

   OriginalPaper Pages: 307 - 314