...Vahid Firouzi; Fariba Bahrami; Maziar A. Sharbafi ABSTRACT Balance control is one of the crucial challenges in bipedal locomotion. Humans need to maintain their trunk upright while the body behaves like an inverted pendulum which is inherently unstable. As an alternative, the virtual pivot point...

... – as opposed to a spring element – when locomoting on a highly damping surface such as water. (e-mail: sthsieh@oeb.harvard.edu ) 18 8 2003 © The Company of Biologists Limited 2003 2003 water running hindlimb kinematics bipedal locomotion ontogeny scaling plumed basilisk lizard...