The gait generation algorithm considering both step distance adjustment and step duration
adjustment could improve the anti-disturbance ability of the humanoid robot, which is very …

For the gait pattern planning algorithm of humanoid robots with the linear coupled oscillator
model, some oscillator parameters were chosen by manual adjustment, which makes it …

As the first step for biped robots to enter the human life, robust walking is a difficult problem
to be solved owing to the various algorithms and practical engineering issues being …

To improve the robustness of biped walking, a model parameters optimization method
based on policy gradient decent learning is presented. For the linear inverted pendulum …

In order to enhance the anti-disturbance ability of biped robots, a novel linear model
predictive control framework is proposed in this paper. We integrate the step duration …

In our previous work, we have studied a bipedal walking model with a torso, in which the gait
evolves from the stable period-1 pattern directly into the Neimark–Sacker bifurcation pattern …

Stable and robust walking in various environments is one of the most important abilities for a
humanoid robot. This paper addresses walking pattern synthesis and sensory feedback …

Humanoid robots are expected to have broad applications due to their biped mobility and
human-like shape. To increase the walking speed, it is necessary to increase the power for …

In order to solve the problem of gait planning for hexapod robots and achieve the
optimization and learning of free gaits on specific terrains, a discrete gait model is built …

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 …