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Bipedal locomotion is a phenomenon that still eludes a fundamental andconcise mathematical understanding. Conceptual models that capture somerelevant aspects of the process exist but their full explanatory power is notyet exhausted. In the current study, we introduce the robustness criterionwhich defines the conditions for stable locomotion when steps are taken withimprecise angle of attack. Intuitively, the necessity of a higher precisionindicates the difficulty to continue moving with a given gait. We show that thespring-loaded inverted pendulum model, under the robustness criterion, isconsistent with previously reported findings on attentional demand during humanlocomotion. This criterion allows transitions between running and walking, manyof which conserve forward speed. Simulations of transitions predict Froudenumbers below the ones observed in humans, nevertheless the modelsatisfactorily reproduces several biomechanical indicators such as hipexcursion, gait duty factor and vertical ground reaction force profiles.Furthermore, we identify reversible robust walk-run transitions, which allowthe system to execute a robust version of the hopping gait. These findingsfoster the spring-loaded inverted pendulum model as the unifying framework forthe understanding of bipedal locomotion.

Robustness: a new SLIP model based criterion for gait transitions in bipedal locomotion