The wheel-legged biped robot is a typical ground-based mobile robot that can combine the
high velocity and high efficiency pertaining to wheeled motion and the strong, obstacle …

Trajectory generation for biped robots is very complex due to the challenge posed by real-
world uneven terrain. To address this complexity, this paper proposes a data-driven Gait …

Compliance motion and footstep adjustment are active balance control strategies from
learning human subconscious behaviors. The force estimation without direct end-actuator …

Whole-body control is beneficial for improving the disturbance adaptation of humanoid
robots, since it can simultaneously optimize desired joint torque, joint acceleration, and …

The research on bipedal robots with limited foot area is gaining increasing attention. To
tackle the challenge of dealing with unknown disturbances in the environment, the …

To improve the learning efficiency in robotic simulation environments with physical
characteristics, this paper presents a toolkit for mobile robotics teaching via extending the …

In recent years, many studies have shown that soft robots with elastic actuators enable
robust interaction with the environment. Compliant joints can protect mechanical systems …

To study the influence of Artificial Intelligence (AI) on dancing robots in choreography, this
paper introduces the biped-humanoid robot-imagined choreography model alongside the …

This study introduces a reduced-order leg dynamic model to simplify the controller design
and enhance robustness. The proposed multi-loop control scheme tackles tracking control …

The goal of this paper is to develop a unified online motion generation scheme for
quadruped lateral-sequence walk and trot gaits based on a linear model predictive control …