This paper describes some important classes of two degrees of freedom of underactuated
mechanical system and also surveys review of the recent state‐of‐the‐art concerning the …

In this study, a gait optimization routine is developed to generate walking patterns which
demand the lowest friction forces for implementation. The aim of this research is to fully …

In this article, after introducing the RoboWalk body weight support assistive device, the
forward kinematics of human and the inverse kinematics of the assistive robot are …

Contact modeling plays a central role in motion planning, simulation and control of legged
robots, as legged locomotion is realized through contact. The two prevailing approaches to …

In this paper, a walking pattern optimization procedure is implemented to yield the optimal
heel-strike and toe-off motions for different goal functions. To this end, first, a full dynamic …

Adding active toe joints to a humanoid robot structure has lots of difficulties such as
mounting a small motor and an encoder on the robot feet. Conversely, adding passive toe …

In this article, an online adaptation algorithm for bipedal walking on uneven surfaces with
height uncertainty is proposed. To generate walking patterns on flat terrains, the trajectories …

This study addresses optimal walking pattern generation for SURENA III humanoid robot in
a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid …

The main objective of this article is to optimize the walking pattern of a 2D humanoid robot
with heel-off and toe-off motions in order to minimize the energy consumption and maximize …

In this article, the significance of utilizing active toe joints in biped robots is examined. The
main goal of this research is to employ heels and active toe joints and to improve gait …