... International Journal of Control, 40 (1), pp.10 7-1 19. 4. Miura, H., and Shimoyama, I., 19 84, “Dynamic Walk of a Biped,” Int. J. of Robotics Research, 3(2), pp.6 0-7 4. 5. Furusho, j., and Masubuchi, ... 1993, “Dynamics and control of bipedal locomotion,” Journal of Theoretical Biology, 163, pp.27 7-3 14. 14. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T., 1998, “The Development of Honda Humanoid ... gravitational and inertial forceare utilized for motion. Such kind of walking is called ”ballistic walking”.Ballistic walking is supposed to be a human walking model suggested byMochon and McMahon...