1.

Introduction
1.1. Greetings
1.1.1. Welcoming
1.1.2. Topic
1.2. Presentation Outline
1.2.1. Brief History
1.2.2. Today Legged Robots examples
1.2.3. Types of Legged Robots
1.2.4. Hopping Robots
1.2.5. Biped Robots
1.2.6. Multilegged Robots
2. Brief History
2.1. Kato
2.1.1. WABOT 1
2.2. M. Vukobratovic
2.2.1. Exoskeletons
2.2.2. Locomotion stability analysis
3. Examples
3.1. QRIO
3.2. ASIMO
3.3. HRP
4. Types of Legged Robots
4.1. Hopping Robots
4.2. Biped Robots
4.3. Multilegged Robots
4.3.1. Quadrupeds
4.3.2. Hexapods
5. Hopping Robots
5.1. Control
5.1.1. Altitude
5.1.2. Forward velocity
5.1.3. Body attitude

5.2. Stability of Passive Walking

5.2.1. Swing-Stage
5.2.2. Limit cycle
5.2.3. How to determinate the stability
5.2.3.1. Poincar map
5.2.3.2. Limit cycles
6. Biped Robots
6.1. Dynamics
6.1.1. Basic Modeling
6.1.1.1. Lagrangian dynamic in full space
6.1.1.2. Constrainst due to contact forces
6.1.1.3. Transitions equations with impacts
6.1.2. Orbital Stability
6.1.2.1. ZMP
6.1.2.2. Control scheme for a full biped control
6.1.2.2.1. Definition of desired trajectories
6.1.2.2.2. Classical allowing them to be tracked
6.1.2.2.3. Dedicated online adaption techniques
6.2. Main control schemes
6.2.1. Simple Dynamic Control
6.2.2. Model Predictive Control
6.2.3. Trajectory Free NMPC
7. Multilegged Robots
7.1. Inspiration
7.2. Researches
7.3. Legs Movement
7.3.1. Creeping gait
7.3.2. Crawl gait
7.4. Ideal analysis
8. Conclusion