Despite several decades of research, locomotion of bipedal robots is still far from achieving
the graceful motions and the dexterity observed in human walking. Most of today's bipeds …

Nature has solved the problem of controlling legged locomotion many thousands of times in
animals exhibiting an enormous variety of neuromechanical structures. Control systems …

Walking controllers for bipedal robots have not yet reached human levels of robustness in
locomotion. Imitating the human motor control might be an alternative strategy for generating …

Compared to human locomotion capabilities, today's bipedal robots are still lacking in
efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on …

Abstract The Behavior Based Locomotion Controller (BBLC) extends the applicability of the
behavior based control (BBC) architecture to redundant systems with multiple task-space …

Unlike most human-engineered systems, many biological systems rely on emergent
behaviors from low-level interactions, enabling greater diversity and superior adaptation to …

This paper proposes an energy control method for dynamic obstacle crossing by a planar
biped. This approach was tested in a simulation where it was found to enable the biped …

A novel behavior based locomotion controller (BBLC) capable of adapting to unknown
disturbances is presented. The proposed controller implements a behavior based control …

The neural control of human locomotion is not fully understood. As current experimental
techniques provide only partial and indirect access to the neural control network, our …

Today's bipedal robots still cannot compete with humans regarding efficiency, velocity, and
robustness of locomotion. Thus, this paper suggests a control concept for dynamic walking …