Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …

Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner
of the world. On land, legged morphologies have evolved to manifest magnificent mobility …

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus
manufacturing use-case demonstrator. We share experimental knowledge gathered so as to …

Generating stable dynamic motions for a biped robot in real time is difficult due to the
unstable nature of biped systems and their high degrees of freedom. We propose an …

One of the major characteristics of robot development at Honda is “knowing and learning
from humans.” In 1986, Honda started a research on robot whose bipedal walking was …

Stability control for humanoid robots based on zero moment point (ZMP) control and
impedance control are widespread. However, uncertain changes in the center of mass …

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 …

We present a planner for underactuated hyper-redundant robots, such as humanoid robots,
for which the movement can only be initiated by taking contacts with the environment. We …

While humans are highly efficient in dealing with balance perturbations, current biped
humanoid robots are far from showing similar skills. This is mainly due to the limited capacity …

This paper tries to improve a balance control based on the Capture Point (CP) control. First
the characteristics of the conventional balance controller are shown to be essentially the …