Gait planning for the humanoid robot is a very essential and basic requirement. The
humanoid robot is balanced at two feet; therefore, special attention is required for gait …

Human life is invaluable. When dangerous or life-threatening tasks need to be completed,
robotic platforms could be ideal in replacing human operators. Such a task that we focus on …

This letter aims to achieve automatic tuning of optimal parameters for whole-body control
algorithms to achieve the best performance of high-DoF robots. Typically, the control …

Legged locomotion poses significant challenges due to its nonlinear, underactuated and
hybrid dynamic properties. These challenges are exacerbated by the high-speed motion …

This paper outlines the design and operation of a teleoperated quadrupedal robot enhanced
with a manipulator arm and gripper. Using the mobile quadruped platform Laikago, a ViperX …

Bipedal robots have gained a lot of locomotion capabilities the past few years, especially in
the control level. Navigation over complex and unstructured environments using …

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile
base are moving together, are known for their capabilities to carry out multiple tasks at the …

Gait pattern performance, for its crucial significance in humanoid robot stabilization, has
attracted the attention of researchers worldwide. Although simplified models highlight major …

In this paper, we present a thorough kinematics analysis of a humanoid two degrees-of-
freedom (DoF) ankle module based on a parallel kinematics mechanism. Compared with the …

Reasoning about contacts between a legged robot's foot and the ground is a critical aspect
of locomotion in natural terrains. This interaction becomes even more critical when the robot …