Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

The newly established cluster of excellence CoTeSys investigates the realization of
cognitive capabilities such as perception, learning, reasoning, planning, and execution for …

This paper is focused on the use of Zero Moment Point (ZMP) concept for balancing control
of the Asian Institute of Technology L eg EX oskeleton-I (ALEX-I). ALEX-I has been …

This dissertation aspires to intensify the humanoid robots' mobility, particularly, their bipedal
dynamic stability. In principle, humanoid dynamics have a highly nonlinear nature …

This thesis investigates the variable contact situations of rigid robot feet in legged robot
locomotion. One major goal is to include the rotation around foot edges in locomotion cycles …

The dynamic walking stability of biped robot is a challenging research topic. In this paper,
the fuzzy controller on zero movement point (ZMP) criterion is implemented to maintain the …

An online posture modification method termed Jacobi compensation is proposed which is
suitable to modify precalculated step trajectories for a humanoid robot in certain task …

In this paper, we provide the first demonstration that a humanoid robot can learn to walk
directly by imitating a human gait obtained from motion capture (mocap) data without any …

The research presented in this dissertation discusses the development of a humanoid biped
robot from the planning stage to biped walking focusing on low level control. Concepts in …

Programming a humanoid robot to perform an action that takes into account the robot's
complex dynamics is a challenging problem. Traditional approaches typically require highly …