In this paper, a human-cooperative control strategy is proposed for locomotion assistance
along a physiologically meaningful path through a wearable walking exoskeleton. First, a …

When a biped robot moves about in a physical environment, it may encounter inclined
ground. Biped walking on inclined ground still remains challenging for biped robots …

Zero moment point (ZMP) is a mathematical formulation to find a point that causes
equilibrium of action and reaction momentum (momentum equal to zero). ZMP can be …

The proposed study presents an original concept for the design of a walking robot with a
minimum number of motors. The robot has a simple design and control system, successfully …

The purpose of this work is to investigate the possibilities of climbing higher obstacles while
maintaining the overall dimensions of a walking robot through design improvements and …

This paper proposes a novel human-cooperative control strategy for robotic exoskeleton to
help humans climbing stairs without crutches. The trajectory of the center of gravity (CoG) is …

This paper proposes a new method of linear inverted pendulum control, which is used to
control the quadruped robot walking on regular uneven terrain such as ramp and stair …

In biped walking, dynamic balance ability is an important evaluation index. Zero-moment-
point-based trajectory control is a common method for biped dynamic walking, but it requires …

Transfer on Reinforcement Learning (RL) is a promising method on learning new skills and
adapting new situations for humanoid robots as tasks or environments change. Within the …

Purpose Walking on inclined ground is an important ability for humanoid robots. In general,
conventional strategies for walking on slopes lack technical analysis in, first, the waist …