In this paper, we present a novel control architecture for the online adaptation of bipedal
locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and …

The quasi-static gait is a common walking strategy for legged robots. It can make the legged
robots adapt to many structured terrains. Many researchers focus on the quasi-static gait for …

This paper presents Surena-V, a humanoid robot designed to enhance human-robot
collaboration capabilities. The robot features a range of sensors, including barometric tactile …

In this paper, we conducted a comparative evaluation of three RGB-D SLAM (Simultaneous
Localization and Mapping) algorithms—RTAB-Map, ORB-SLAM3, and OpenVSLAM—for …

This paper presents the design and implementation of a Right Invariant Extended Kalman
Filter (RIEKF) for estimating the states of the kinematic base of the Surena V humanoid …

This paper presents a step control algorithm that effectively responds to strong disturbances
during high-speed walking, ensuring robustness. Our method employs a quadratic …

By using the linear inverted pendulum model (LIPM), the biped robot is equivalent to an
inverted pendulum with a single center of mass, and the height of the center of mass z is …