Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …

The walking stability of a humanoid robot is a fundamental problem due to the complex
nonlinear dynamic model of the robot's legs. This work introduces the performance tracking …

Legged robots have great potential to perform complex loco-manipulation tasks, yet it is
challenging to keep the robot balanced while it interacts with the environment. In this paper …

This paper focuses on the developments of a generic gait synthesis for the humanoid robot
COMAN. Relying on the essential Gait Pattern Generator (GPG), the proposed synthesis …

In this paper, we present an inverse optimal control-based transfer of motions from human
experiments to humanoid robots and apply it to walking in constrained environments. To this …

A foot positioning compensator is developed in this paper for a full-body humanoid to
retrieve its balance during continuous walking. An online Foot Position Compensator (FPC) …

To improve the robustness of biped walking, a model parameters optimization method
based on policy gradient decent learning is presented. For the linear inverted pendulum …

In this paper we introduce a biped foot placement controller based on capture point (CP)
feedback control. This capture point feedback controller generates desired Zero Moment …

Foot placement prediction can be important for exoskeleton and prosthesis controllers,
human-robot interaction, or body-worn systems to prevent slips or trips. Previous studies …

Compared with the traditional hydraulic humanoid robots, the WLR-II, a novel hydraulic
wheel-legged robot developed by using hose-less design, can significantly increase the …