This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid
robots, a problem traditionally tackled by optimization-based methods or reinforcement …

This paper presents a novel design based on disturbance estimation and rejection for robust
balance and walking control of humanoid robot. A state-feedback control (SFC) law is …

The robust balancing capability of humanoid robots against disturbances has been
considered as one of the crucial requirements for their practical mo-bility in real-world …

Humanoid robots are regarded as versatile robot platforms that are capable of traversing
diverse terrains and performing dangerous or challenging tasks on behalf of humans …