Human–robot co-transportation allows for a human and a robot to perform an object
transportation task cooperatively on a shared environment. This range of applications raises …

The objective of this paper is to review the theories and approaches of multisensor fusion
and integration (MFI) with its application in mechatronics. MFI helps the system perceiving …

The paper provides a brief review on structural and technological features of Lower Limb
Exoskeletons that have been manufactured until recently and the description of their …

In this work we propose a learning-based approach to box loco-manipulation for a
humanoid robot. This is a particularly challenging problem due to the need for whole-body …

This paper studies real-time gait planning for a humanoid robot. By simultaneously planning
the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and …

The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics.
Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model …

A biped walking pattern generator which allows an additional ZMP control (auxiliary ZMP) is
presented. An auxiliary ZMP is realized by an inverse system added to a pattern generator …

Biped walking robots have been widely researched because biped walking is considered as
an effective way to locomote in human environments. There are a lot of ways to generate …

In this chapter, we introduce legged robots. After introducing the history of legged robot
research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive …

This paper studies the balance of a humanoid robot carrying a heavy object. Without
knowing the mass and the position of the center of gravity of the object, the humanoid robot …