Abstract
In this talk, I will introduce the first analytical approximations to the double-stance phase of a walking gait modeled using the Spring-loaded Inverted Pendulum (SLIP) template. The predictive performance of the approximate solutions was investigated by applying them in the design of gait controllers, performing dynamic walking, walk-to-run and run-to-walk transitions. I then discuss the approach we have taken to investigate the compositional treatment of the developed template models, with the aim to realize the similar transient behaviors in multi-legged robots. The talk will be concluded by presenting the primary results of coordinating multiple physically-unconnected template models using a supervisory synchronization controller formulated in the Max-plus algebra.