To guarantee their locomotion, biped robots need to walk stably. The latter is achieved by a
high performance in joint control. This article addresses this issue by proposing a novel …

Step** strategy, including step time and step location modulation, and hip strategy, ie,
upper-body movement, play crucial roles in achieving robust humanoid locomotion …

Traditional one-step preview planning algorithms for bipedal locomotion struggle to
generate viable gaits when walking across terrains with restricted footholds, such as …

This article reports a unique state-feedback learning framework for the locomotion of a biped
robot over undulating surfaces. The proposed framework has two main components: 1) Gait …

To generate dynamically feasible running motion for humanoid robots, one conventionally
chooses between a simplified model and a full-body model. A simplified model can be …

Controlling a biped robot to walk through rough terrains is crucial to the robot's field
application. For a human in the workplace, the ability to flexibly transfer motion while walking …