Energy-efficient gait planning and control is established for biped robots, which utilizes the
allowable zero moment point (ZMP) region. Based on 3-D linear inverted pendulum mode …

In this paper, a reinforced learning method for biped walking is proposed, where the robot
learns to appropriately modulate an observed walking pattern. The biped robot was …

This paper proposes a new framework to recover balance against external forces by
combining disturbance suppression and reactive step**. In the view point of the feedback …

This paper proposes a reactive motion controller for a humanoid robot to maintain balance
against a large disturbance, by relatively step**. A reactive step is performed by the robot …

This paper describes a biped walking control method for a collision of a swinging foot on
uneven terrain. Because a swing leg moves to a desired landing position, an unexpected …

This paper proposes new walking pattern method for the humanoid robots. The proposed
method based on the inverted pendulum uses the zero moment point (ZMP) and the center …

This paper presents balance and vibration control algorithm for bipedal humanoid robots in
the motion embedded CoM Jacobian framework. The vibration control is employed during a …

The present invention may provide a method of generating a walking pattern for a humanoid
robot. The method of generating the walking pattern for the humanoid includes determining …

This paper proposes a new walking pattern generation method for humanoid robots. The
proposed method consists of feedforward control and feedback control for walking pattern …

Input torque is themain power to maintain bipedal walking of robot, and can be calculated
from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the …