For physical human–robot interaction (pHRI) where multi‐contacts play a key role, both
robustness to achieve robot‐intended motion and adaptability to follow human‐intended …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

Stability control for humanoid robots based on zero moment point (ZMP) control and
impedance control are widespread. However, uncertain changes in the center of mass …

Hydraulic actuating system exhibits potential for legged robots to achieve highly agile
dynamic movement because of their high power-to-weight ratio. However, the low energy …

Compliance control is important for the realization of disturbance absorption in biped robots.
However, under a sustained disturbance, compliance control causes the robot's balance to …

In this letter, we present a novel two-level variable Horizon Model Predictive Control (VH-
MPC) framework for bipedal locomotion. In this framework, the higher level computes the …

In this letter, an integrated control strategy is developed for both locomotion trajectory
planning and postural stability, enabling shared autonomy between the human and lower …

A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …

This letter presents a reactive locomotion method for bipedal robots enhancing robustness
and external disturbance rejection performance by seamlessly rendering several walking …

Robust locomotion is a challenging task for humanoid robots, especially when considering
dynamic disturbances. This article proposes a disturbance observer-based cascaded model …