Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …

This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

The Cassie bipedal robot designed by Agility Robotics is providing academics with a
common platform for sharing and comparing algorithms for locomotion, perception, and …

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 …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

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 …

We present a control strategy for physically-simulated walking motions that generalizes well
across gait parameters, motion styles, character proportions, and a variety of skills. The …

Quadrupedal animals move through their environments with unmatched agility and grace.
An important part of this is the ability to choose between different gaits in order to travel …

During gait the body is in a continuous state of imbalance, with each subsequent step
preventing a fall. Gait balance is maintained by regulating the interactions between the …