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 …

A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing,
stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically …

The paper deals with the proposed concept of a biped robot with vertical stabilization of the
robot's base and minimization of its sideways oscillations. This robot uses 6 actuators, which …

This paper presents a concept of humanoid robot motion generation using the dedicated
simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait …

The main objective of this paper is to present a systematic approach for planning a desired
path for a bipedal robotic system walking down an inclined surface. To this end, first, the …

Virtual constraints are relations imposed in a control system that become invariant via
feedback instead of real physical constraints acting on the system. Nonholonomic systems …

The modeling of humanoid robots with many degrees-of-freedom (DoF) can be done via the
complete dynamic model. However, the complexity of the model can hide the essential factor …

This paper seeks to define the anthropomorphic walking motion for the humanoid robot
Romeo. The main characteristics of the lower and upper limb motions of the human being …

The linear inverted pendulum model is often used to study walking gaits, but the transition
from one step to the following step is often neglected, whereas it is really important for the …

The walking of humanoid robots is dependent on the precise tracking of their center of
gravity and foot trajectories. Trajectory tracking is achieved by mobilizing their joints to …