Humanoid and Bipedal Locomotion; Legged Robots; Underactuated Robots; Numerical Continuation Methods

The content in this zip file contains a video showing animations of all gaits presented in the figures of the paper as well as the source code for computing walking gaits from equilibria using numerical continuation methods.  Further information can be found in the README.txt file.  The content can also be downloaded for free at https://github.com/nr-codes/BipedalGaitGeneration.