This paper presents a contribution to the study of control law structures and to the selection
of relevant sensory information for humanoid robots in situations where dynamic balance is …

Effective and efficient motion of humanoid robots in unstructured dynamic environments is a
prerequisite for their activity in the living and working environment of humans. Motion in such …

Presence of permanent perturbations during walk requires simultaneous control of dynamic
balance preservation and correction of internal synergy to bring it as close as possible to …

It is expected that the humanoid robots of the near future will" live" and work in a common
environment with humans, which imposes the requirement that their operative efficiency …

Starting from the operational space and task prioritization framework, presented in [L. Sentis
and O. Khatib, Task-oriented control of humanoid robots through prioritization, in Proc. IEEE …

Push recovery is an important capability for a biped to safely maneuver in a real dynamic
environment. In this paper, a generalized push recovery scheme to handle pushes from any …

This paper overviews some author's biomechanical inspiration for the development of an
approach which enables the realization of bipedal artificial motion. First, we introduce the …

The development of humanoid robotics during the last decades has undoubtedly resulted in
numerous successful realizations in this area. One of the most important tasks that have …

In this paper we compare and contrast modern dynamical methodologies common to both
humanoid robotics and human biomechanics. While the humanoid robot's motion is defined …

This paper proposes a method of giving humanoid robots a natural humanlike walk, which
we call the extended-knee walk. Unlike the bent-knee walk of most humanoid robots to date …