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Feedback Control of Dynamic Bipedal Robot Locomotion presents cutting-edge, systematic methods for achieving stable, agile, and efficient locomotion in bipedal machines. The authors successfully describe dynamic locomotion in planar bipedal robots, from both theoretical and practical points of view. The fundamental principles can be used for the immediate improvement in control of existing robots and provide guidelines for improving the mechanical design of future robots. Researchers and practitioners seeking to move beyond the quasi-static, flat-footed walking of current powered bipedal robots and the easily toppled gaits of passive robots will find this text to be an invaluable resource.