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Then an event-based control law is applied to stabilize the running gait according to the running speed specification, and an energy shaping control is added to enlarge the domain of attraction as well as improve the convergence rate. At last a transitional control law is developed for smooth transitions between different running gaits. The effectiveness of our approach is verified by numerical simulations.<\/jats:p>","DOI":"10.1142\/s0219843614500157","type":"journal-article","created":{"date-parts":[[2014,5,20]],"date-time":"2014-05-20T09:37:26Z","timestamp":1400578646000},"page":"1450015","source":"Crossref","is-referenced-by-count":6,"title":["Variable Speed Running on Kneed Biped Robot with Underactuation Degree Two"],"prefix":"10.1142","volume":"11","author":[{"given":"Yang","family":"Yi","sequence":"first","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China"}]},{"given":"Zhiyun","family":"Lin","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China"}]},{"given":"Gangfeng","family":"Yan","sequence":"additional","affiliation":[{"name":"College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China"}]}],"member":"219","published-online":{"date-parts":[[2014,7,17]]},"reference":[{"key":"rf1","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"rf2","doi-asserted-by":"crossref","volume-title":"Legged Robots That Balance","author":"Raibert M. 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