Day by day, biped robots' usage is increasing enormously in all industrial and non-industrial
applications due to their ability to move in any unstructured environment compared to …

Biped robots have better mobility than conventional wheeled robots, but they tend to tip over
easily. To be able to walk stably in various environments, such as on rough terrain, up and …

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 …

This paper proposes a control method for biped robot locomotion based on impedance
control and impedance modulation. Both legs are controlled by the impedance control …

Spring-like leg behavior is found in both humans and animals when running. In a spring-
mass model, running proves to be self-stable in terms of external perturbations or variations …

To control a robot performing cooperative work between a human and robot, not only the
position but also the force must be controlled from the viewpoint of human–robot contact. In …

The robustness of biped walking in unknown and uneven terrains is still a major challenge
in research. Traversing such environments is usually solved through vision-based reasoning …

This work presents three online controllers for maintaining dynamic stability of a humanoid
robot using force/torque sensor. Those are dam** controller, landing orientation controller …

Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between
the sole and the ground. Hierarchical control layers are crucial for creating walking patterns …

A robust walking stabilization strategy of humanoids on uneven terrain via a QP-based
impedance/admittance control is addressed in this paper. The core idea is combining the …