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Chapter 6. Evolution of Legged Machines and Robots excerpt from the book: Marko B. Popovic, Biomechanics and Robotics, Pan Stanford Publishing Pte. Ltd., 2013 (No of pages 351) Print ISBN: 9789814411370, eBook ISBN: 9789814411387, DOI: 10.4032/9789814411387 Copyright © 2014 by Pan Stanford Publishing Pte. Ltd. Chapter 6. Evolution of Legged Machines and Robots Chapter outline: Early Legged Machines in the 19th Century 193 Legged Machines in the First Half of the 20th Century 195 Legged Machines during 1950–1970 196 Legged Robots during 1970–1980 197 Legged Robots during 1980–1990 199 Legged Robots during 1990–2000 204 Legged Robots since 2000 208 References and Suggested Reading 214 [chapter content intentionally omitted] References: About AIBO, http://www.sonyaibo.net/aboutaibo.htm. Retrieved July 2012. Asimo by Honda, history, http://asimo.honda.com/asimo-history/. Retrieved July 2012. ASIMO—Wikipedia, the free encyclopedia, http://en.wikipedia.org/wiki/ASIMO. Retrieved July 2012. 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Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., and Hirukawa, H., “Biped walking pattern generation by using preview control of zero-moment point”, IEEE International Conference on Robotics and Automation, ICRA ‘03, 2003. Kajita, S., Nagasaki, T., Kaneko, K., Yokoi, K., and Tanie, K., “A hop towards running humanoid biped”, IEEE International Conference on Robotics and Automation, ICRA ‘04, 2004. Kato, I., “Development of WABOT 1”, Biomechanisms, 173–214, 1973. Marc Raibert, http://www.ai.mit.edu/projects/leglab/old-leglab/people/mxr.html. Retrieved July 2012. Marko B. Popovic, the MIT Media Lab Presentations page: http://web.media.mit.edu/~marko/presentations.html other robots added at http://walltrust.com/MarkoBPopovic/presentations.htm. Retrieved July 2012. Matsuoka, K., “A mechanical model of repetitive hopping movements”, Biomechanisms, 5, pp. 251–258, 1980. 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