Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done

Rhythmic activities such as swimming stroke in the human body are learnable through conscious trainings. Inspiringly, the main objective of this study is to develop a control framework to reproduce the described functionality in the im

Most of the biped robots are controlled using pre-computed trajectory methods or methods based on multi-body dynamics models. The pre-computed trajectory-based methods are simple; however, a system becomes highly vulnerable to the exte