Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

Studies of biped control including standing, walking, hopping and running on humanoid
robots are reviewed in this survey paper. Model-based approaches standing upon reduced …

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus
manufacturing use-case demonstrator. We share experimental knowledge gathered so as to …

This paper presents a model-based method, called Dynamic Balance Force Control (DBFC),
for determining full body joint torques based on desired COM motion and contact forces for …

In order to interact with human environments, humanoid robots require safe and compliant
control which can be achieved through force-controlled joints. In this paper, full body step …

We demonstrate a real-time simulation system capable of automatically balancing a
standing character, while at the same time tracking a reference motion and responding to …

If you follow discussions about the Internet of Things, you've probably heard this stunning
prediction at least once: The world will have 50 billion Internet-connected devices by 2020 …

An effective 3D stepping control algorithm that is computationally fast, robust, and easy to
implement is extremely important and valuable to character animation research. In this …