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 paper focuses on the push-recovery problem of bipedal humanoid robots affected by
external forces and pushes. Since they are structurally unstable, balance is the most …

A humanoid robot similar to a human is structurally unstable, so the push recovery control is
essential. The proposed push recovery controller consists of a IMU sensor part, a highlevel …

Maintaining balance to external pushes is one of the most important features for a humanoid
to walk in a real environment. In particular, methods for counteracting to pushes using the …

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 …

To achieve walking and push recovery successfully, a biped robot must be able to determine
if it can maintain its current contact configuration or transition into another one without falling …

Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing
criteria and control methods for stability are mostly developed for unloaded legged gait. In …

This paper presents a mixed‐integer model predictive controller for walking. In the proposed
scheme, mixed‐integer quadratic programs (MIQP) are solved online to simultaneously …

Although there are several popular and capable humanoid robot designs available in the kid-
size range, they lack some important characteristics: affordability, being user-friendly, using …

This paper presents the design procedure of a biomechanical leg, with a passive toe joint,
which is capable of mimicking the human walking. This leg has to provide the major features …