This article surveys traditional research topics in industrial robotics and mobile robotics and
then expands on new trends in robotics research that focus more on the interaction between …

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 …

A humanoid walking robot is a highly nonlinear dynamical system that relies strongly on
contact forces between its feet and the ground in order to realize stable motions, but these …

This paper introduces an approach to control of physics-based characters based on high-
level features of movement, such as center-of-mass, angular momentum, and end-effectors …

To overcome the obstructions imposed by high-dimensional bipedal models, we embed a
stable walking motion in an attractive low-dimensional surface of the system's state space …

The problem of safe locomotion of legged and wheeled robots, when trying to avoid falling,
tipping over or hitting obstacles, appears to be a problem of viability and not of Lyapunov …

Supervised learning is used to build a control policy for robust, stable, dynamic walking of an
underactuated bipedal robot. The training and testing sets consist of controllers based on a …

In this paper, we carry out the dynamics-based optimization of sagittal gait cycles of a planar
seven-link biped using the Pontryagin maximum principle. Special attention is devoted to the …

Patents contain much significant technical information which can serve as an indicator of
technological and economical development. This study attempts to forecast the development …

Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …