This article presents a model-based control method for achieving bipedal locomotion of a
position-controlled humanoid robot on uneven terrain. The method is called model reference …

This paper deals with a balance control strategy based on a force-position hybrid control of
biped walking robot, SUBO-1 for stable walking on irregular terrain environments. Walking …

We describe in this paper, the development of a humanoid robot for the 2018 Ski Robot
Challenge, which was held in Korea. The goal of this competition was to develop a …

The main motivation behind the creation of a compliant actuation system is to provide safety,
capability of storing energy, and improved performance levels in dynamic behavior of the …

The human ability of kee** balance during various locomotion tasks is attributed to our
capability of withstanding complex interactions with the environment and coordinating whole …

In this paper, we introduce a variable configuration delivery robot platform named HuboQ.
HuboQ is a wheeled mobile platform with 6-DOF manipulator and is the next version of …

This work proposes using an evolutionary optimization method known as simulated
annealing to train artificial neural networks. These neural networks are used to control …

In this paper, we present a strategy for a legged robot to stably cross cinder blocks with a
limited area acquired from a camera. First, we used the point cloud acquired from the …

Disaster robots are needed to perform various tasks through narrow gaps between building
debris to be used for rescue. A soft material-based disaster robot can have easy access to …

Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and
control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more …