Discovery of fundamental principles which govern and limit effective locomotion (self-
propulsion) is of intellectual interest and practical importance. Human technology has …

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …

A humanoid walking robot is a highly nonlinear dynamical system that relies strongly on
contact forces between its feet and the ground in order to realize stable motions, but these …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

In this paper, we introduce a framework for learning biped locomotion using dynamical
movement primitives based on non-linear oscillators. Our ultimate goal is to establish a …

We propose a method for checking and enforcing multicontact stability based on the zero-
tilting moment point (ZMP). The key to our development is the generalization of ZMP support …

Recently, many experiments and analyses with biped robots have been carried out. Steady
walking of a biped robot implies a stable limit cycle in the state space of the robot. In the …

In this article, a running humanoid robot, HRP-2LR, was presented along with its running
pattern generation, its controller, and the experimental result. Applying the proposed …

Maintaining stability and completing the required trajectory are the most important motion
control issues for a six-kinematic-degrees-of-freedom legged robot. Zero-moment point …

In this paper, we propose a learning framework for CPG-based biped locomotion with a
policy gradient method. We demonstrate that appropriate sensory feedback to adjust the …