This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

A novel framework of biped walking stabilization control is introduced. The target robot is a
42 DOF humanoid robot HRP-4C which has a body dimensions close to the average …

Researchers dream of develo** autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

Humanoid robots exhibit structures and movements akin to those of humans, enabling them
to assist or substitute for humans in various operations without necessitating alterations to …

We propose a new algorithm capable of online regeneration of gait patterns. The algorithm
uses a nonlinear optimization technique to find step parameters that will bring the robot from …

This paper presents a novel online walking control that replans the gait pattern based on our
proposed foot placement control using the actual center of mass (COM) state feedback. The …

We present a real-time pattern generator for dynamic walking over rough terrains. Our
method automatically finds step durations, a critical issue over rough terrains where they …

In this paper we introduce a biped foot placement controller based on capture point (CP)
feedback control. This capture point feedback controller generates desired Zero Moment …

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 presents an external force observer that estimates the external force acting on a
biped humanoid robot, such as a collision force with a human or with an object. Since biped …