Biological systems, including human beings, have the innate ability to perform complex
tasks in a versatile and agile manner. Researchers in sensorimotor control have aimed to …

The state-of-the-art reinforcement learning (RL) techniques have made innumerable
advancements in robot control, especially in combination with deep neural networks …

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 …

Most research on robot manipulation focuses on objects that are light enough for the robot to
pick them up. However, in our daily life, some objects are too big or too heavy to be picked …

Bipedal locomotion has been widely studied in recent years, where passive safety (ie, a
biped rapidly brakes without falling) is deemed to be a pivotal problem. To realize safe 3-D …

Legged robots are well-suited for operation in challenging natural environments, such as
steep obstacles or vast gaps in the ground. Aside from difficult terrain, robots may also …

Despite plenty of motion planning strategies have been proposed for bipedal locomotion,
enhancing the walking robustness in real-world environments is still an open question. This …

To properly function in real-world environments, a humanoid robot must be able to adapt its
walking gait to new situations. In this paper, an adaptive bipedal walking control method that …

Two key questions in the context of stepping for push recovery are where to step and how to
step there. In this paper we present a fast and computationally light-weight approach for …

Robustly maintaining balance on two legs is an important challenge for humanoid robots.
The work presented in this book represents a contribution to this area. It investigates efficient …