part 1 Part I: Preliminaries -- chapter 1 Introduction -- chapter 2 Two Test Beds for Theory -- part 2 Part II: Modeling, Analysis, and Control of Robots with Passive Point Feet -- chapter 3 Modeling of Planar Bipedal Robots with Point Feet -- chapter 4 Periodic Orbits and Poincare´ Return Maps -- chapter 5 Zero Dynamics of Bipedal Locomotion -- chapter 6 Systematic Design of Within-Stride Feedback Controllers for Walking -- chapter 7 Systematic Design of Event-Based Feedback Controllers for Walking -- chapter 8 Experimental Results for Walking -- chapter 9 Running with Point Feet -- part 3 Part III: Walking with Feet -- chapter 10 Walking with Feet and Actuated Ankles -- chapter 11 Directly Controlling the Foot Rotation Indicator Point -- chapter A Getting Started -- chapter B Essential Technical Background -- chapter C Proofs and Technical Details -- chapter D Derivation of the Equations of Motion for Three-Dimensional Mechanisms -- chapter E Single Support Equations of Motion of RABBIT -- part Nomenclature -- chapter End Notes -- chapter References -- chapter Index -- chapter Supplemental Indices.