A new method is proposed to control bipedal robots to achieve exible omni-directional
motion and robust locomotion under complex disturbances, called the heuristics-based …

This letter presents a control framework for legged robots that enables self-perception and
resistance to external disturbances. First, a novel proprioceptive-based disturbance …

Legged robots must contend with challenges like load fluctuations, external forces, and
modeling errors in their working environment, all of which can lead to inaccuracies in the …

This article presents the design, control, and implementation of a novel wheeled-bipedal
robot: SKATER. The design of the wheeled-leg structure and joint actuators is introduced …

Although robot-assisted physiotherapy has gained increasing attention in recent years, the
use of wearable rehabilitation robots for lower limbs has shown reduced efficiency due to …

Swift perception of interaction forces is a crucial skill required for legged robots to ensure
safe human–robot interaction and dynamic contact management. Proprioceptive-based …

Achieving accurate robot control and realistic robot simulation relies on the precise
modeling of robotic dynamics. Although the identification method for obtaining dynamic …

The walking control of bipedal robots poses challenges due to inherent coupling among the
robot's degrees of freedom. This paper introduces an approach to address this challenge by …

Despite major advancements in control design that are robust to unplanned disturbances,
bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By …