Locomotion of biped robots requires predictive controllers due to its unstable dynamics and
physical limitations of contact forces. A real-time controller designed to perform complex …

Running and jum** are locomotion modes that allow legged robots to rapidly traverse
great distances and overcome difficult terrain. In this article, we show that the 3-D divergent …

This paper presents the development, modeling, and control of L03, an underactuated 3D
bipedal robot with symmetrical hips and straight legs. This innovative design requires only …

Standing-up is a task that humanoids need to be able to perform in order to be employed in
real-world scenarios. This letter proposes a new robust strategy for a humanoid to stand up …

In this work, the Divergent Component of Motion (DCM) method is expanded to include
angular coordinates for the first time. This work introduces the idea of spatial DCM, which …

This paper presents a reactive locomotion method for bipedal robots enhancing robustness
and external distur-bance rejection performance by seamlessly rendering several walking …

Traditionally, manufacturing and assembly of space assets is performed on ground before
sending them into orbit. However, this monolithic approach involves high launch costs due …

In this paper, a kind of walking control of biped robot based on adaptive incremental MPC
(Adaptive IMPC) is implemented. The linear inverted pendulum model (LIPM) is used to …

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 …

This paper aims to achieve real-time optimum push recovery and high-speed pattern
generation for a 3D humanoid robot. For this purpose, a divergent component of motion …