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Within the large variety of existing and still newly emerging biped walking machines Jogging JOHNNIE represents a fundamental study on fast walking and on especially adapted foot-dynamics. Air phases are possible with two feet lifted off the ground. Each foot possesses six degrees of freedom with respect to the body and additionally seven degrees of freedom within the local foot environment. The overall system includes 23 degrees of freedom. It is 1.80 m, large and weighs 40 kg. Up to now stable walking has been achieved.
Pfeiffer et al. (2003) studied this question.