The complexity of the control and operation is one of the roadblocks of widespread
utilization of humanoid robots. In this study, we introduce a novel approach to humanoid …

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 …

The balance stability control and analyses are important for the practical use of humanoid
robots. This dissertation advances the framework and formulations of balanced state basin …