Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with
constrained height based on the capture point. In this paper, we generalize this analysis to …

This letter presents a novel cascade state estimation framework for the three-dimensional (3-
D) center of mass (CoM) estimation of walking humanoid robots. The proposed framework …

This paper presents a novel framework of hydraulic-driven biped robot. The target biped
robot is a humanoid robot NWPUBR-1 with 12 degrees of freedom (DOF), and its …

Contact detection is an important topic in contemporary humanoid robotic research. Up to
date control and state estimation schemes readily assume that feet contact status is known …

At present, the research and application of biped robots is more and more popular. The
popularity of biped robots can be better promoted by improving the motion performance of …

Developments for 3D control of the center of mass (CoM) of biped robots are currently
located in two local minima: on the one hand, methods that allow CoM height variations but …

The modeling of humanoid robots with many degrees-of-freedom (DoF) can be done via the
complete dynamic model. However, the complexity of the model can hide the essential factor …

We have realized a biped walking control based on the spatially quantized dynamics (SQD)
which discretizes a continuous system by a constant unit length along the walk direction. By …

This paper presents a method for biped gait generation along a predefined curve with fully
stretched knees. First, we design a spatial gait pattern as a function of the traveled distance …

Knee-stretched walking is considered to be a human-like and energy-efficient gait. The
strategy of extending legs to obtain vertical center of mass trajectory is commonly used to …