In a method for operating a hybrid vehicle with a combustion engine coupled to an electric motor having at least one inlet and one outlet valve per cylinder, a variable valve control, and a fuel injection device, with a first partial power, from the overall drive power provided to the vehicle, it is provided that upon request a cylinder that can be switched off is deactivated and filled with fresh gas, and upon request for activating the cylinder in the temporally next suction and/or compression phase of the cylinder a predetermined amount of fuel and an ignition of the mixture occurs by no later than the end of the compression phase and/or that in order to adjust the momentum during the activation of a cylinder that had been switched off a multiple injection of fuel occurs, preferably a dual injection, in a homogenous split mode of operation.

 
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> Legged walking robot and motion control method therefor

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