This paper presents the virtual height inverted pendulum mode (VHIPM), which is a simple
and effective trajectory generation method for the stable walking of biped robots. VHIPM …

Since a biped robot tends to tip over easily due to impacts, rough terrain or obstacle object,
stable and reliable biped walking is a very important achievement. Well designed foot plays …

This paper proposes adapting human jumping dynamics to humanoid robotic structures.
Data obtained from human jumping phases and decomposition together with ground …

Soft soles absorb impacts and cast ground unevenness during locomotion on rough terrains.
However, they introduce passive degrees of freedom (deformations under the feet) that …

A simple measurement system with a set of six ultrasonic piezoelectric transducers is
presented for direct 3D positioning of humanoid robot limbs. A configuration with three …

We describe a methodology to design foot soles for a humanoid robot given walking gait
parameters (ie given center-of-mass and zero-moment-point trajectories). In order to obtain …

This correspondence proposes a control method for biped robots walking on a geometrically
uneven surface with irregular protrusions. The focus is to maintain robot stability in leg and …

This paper describes our research efforts aimed in the analysis of the humanoid robot feet
role during walking gait. To improve the humanoid robot walking performances, a dynamic …

This paper proposes a compliant sole as an external shock-absorbing mechanism and
investigates its effect comparatively to an ankle-located joint-flexible mechanism. The …

The aim of this article is to achieve a parametric modeling of kinematics, geometrical and
inertial properties of the various joints and links which constitute an anthropomorphic biped …