1. Locomotion pattern generation and mechanisms of a new biped walking machine by Hun-ok Lim, Y Ogura, and Atsuo Takanishi Proceedings A Volume 464(2089):273-288 January 8, 2008 ©2008 by The Royal Society

2. Motion of a human pelvis and knee during steady walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

3. Structure of a human pelvis. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

4. WABIAN-2LL mechanism: (a) d.f. configuration and (b) photograph. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

5. Coordinate frames and parameters. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

6. Knee-stretched walking pattern generation. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

7. Stick diagrams of biped walking: (a) knee-bended walking with a constant height of the waist, (b) knee-stretched walking with the heel and toe contact at the same time and (c) knee-stretched walking with the heel contact and the toe lift. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

8. Simulation results: (a) knee joint pattern in knee-bended walking with a constant height of the waist, (b) knee joint pattern in knee-stretched walking with the heel and toe contact at the same time and (c) knee joint pattern in knee-stretched walking with... Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

9. Simulation results: (a) waist roll pattern in knee-bended walking with a constant height of the waist, (b) waist roll pattern in knee-stretched walking with the heel and toe contact at the same time, (c) waist roll pattern in knee-stretched walking with the... Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

10. Experimental results: (a) Y-ZMP in knee-bended and knee-stretched walking, (b) right knee angle in knee-stretched walking, (c) left knee angle in knee-stretched walking and (d) waist roll angle in knee-stretched walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society

11. Currents of the knee joint in stretched and bended walking. Hun-ok Lim et al. Proc. R. Soc. A 2008;464:273-288 ©2008 by The Royal Society