Description This white paper introduces Stability Geometry of Biomimetic Robotics (SG-BR) — a conceptual and computational framework that shifts the focus of biomimetic robotics from anatomical imitation to the principles of adaptive stability. The central hypothesis is that biol…
This paper introduces Instability Driven Locomotion (IDL) — a new control-theoretic paradigm for robotic locomotion. In contrast to classical approaches that treat instability as a disturbance to be suppressed, IDL proposes that efficient walking, running, and agile movement emer…