For several decades now, mobile robots have been integral to the development of new dynamic robotic systems for a wide range of new applications, even for non-industrial uses. For example, mobile robots have already been developed for such uses as industrial automation, medical care, space exploration, mining operations, surveillance, entertainment, museum guides, and many other applications. In some cases, these products are readily available on the market, while others are still evolving with new robotics research and development. And while a considerable body of literature currently exists on robotics in general, not all of it pertains to technical first principles and preliminary design issues, as will be offered in this new book. In particular, this book will focus on robots involved with locomotion tasks, and the components needed for movement such as leg and biped mechanisms. It will emphasize design issues, operational successes, and new algorithms that can be used for specific applications. Suggestions for further reading and research will also be offered.