Day by day, biped robots' usage is increasing enormously in all industrial and non-industrial
applications due to their ability to move in any unstructured environment compared to …

In this paper, we propose a biped walking controller that optimized three push recovery
strategies: the ankle, hip, and step** strategies. We suggested formulations that related …

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 …

Recently, foot step** strategies of humanoid robots have been actively developed for
robust balancing of humanoids against disturbances. In this paper, a novel step** …

This article presents a reactive planning and control framework to enhance the robustness of
humanoid robots locomotion against external disturbances. The framework comprises two …

This article proposes a new stable biped walking pattern generator with preset step-length
value, optimized by multi-objective JAYA algorithm. The biped robot is modeled as a kinetic …

The robust balancing capability of humanoid robots has been considered one of the crucial
requirements for their mobility in real environments. In particular, many studies have been …

This paper proposes a walking pattern generator and a stabilization method for the dynamic
walking of a bipedal robot. The capture point (CP) and center of mass (CoM) trajectories …

Despite plenty of motion planning strategies have been proposed for bipedal locomotion,
enhancing the walking robustness in real-world environments is still an open question. This …

This study regulates the combination of linear and angular momenta and proposes two
balance strategies: Fixed-Support Strategy and Change-of-Support Strategy. We determine …