This video presents an animation of a simulation of single-degree-of-freedom, mechanically-coordinated, biped robot that has been designed using the methodology presented in "Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom" (McKendry, Brown, Westervelt, Schmiedeler).  This planar biped robot admits can achieve dynamic walking gaits that are stable.  Reducing the DOF in a biped via mechanical coordination can result in a reduction of the complexity of the control strategies needed to enable stable walking.  Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOF are coordinated via feedback.
