This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

Legged robotic technologies have moved out of the lab to operate in real environments,
characterized by a wide variety of unpredictable irregularities and disturbances, all this in …

In this article, we present an intrinsically stable Model Predictive Control (IS-MPC)
framework for humanoid gait generation that incorporates a stability constraint in the …

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 …

Bipedal gait control has always been a very challenging issue due to the multi‐joint and non‐
linear structure of humanoid robots and frequent robot–environment interactions. To realise …

This paper introduces an analytically tractable and computationally efficient model for
legged robot dynamics during locomotion on a dynamic rigid surface (DRS), along with an …

Studies of biped control including standing, walking, hopping and running on humanoid
robots are reviewed in this survey paper. Model-based approaches standing upon reduced …

This paper presents the analysis and stabilization of a hybrid-linear inverted pendulum (H-
LIP) model that describes the essential robot dynamics associated with legged locomotion …

This article studies capturability and push recovery for quadruped locomotion. Despite the
rich literature on capturability analysis and push recovery for legged robots, existing tools …

We tackle the transition feasibility problem, that is the issue of determining whether there
exists a feasible motion connecting two configurations of a legged robot. To achieve this we …