Stability evaluation is a vital aspect of successful balance control and design for humanoid
robots. While balance stability has been extensively explored for push recovery during …

Despite the importance and prevalence of loco-manipulation tasks by humanoids, existing
criteria and control methods for stability are mostly developed for unloaded legged gait. In …

The complexity of the control and operation is one of the roadblocks of widespread
utilization of humanoid robots. In this study, we introduce a novel approach to humanoid …

Bipedal robots, which mimic human or animal motion, are expected to perform numerous
tasks, such as delivering healthcare, conducting search and rescue missions in dangerous …

The balance stability control and analyses are important for the practical use of humanoid
robots. This dissertation advances the framework and formulations of balanced state basin …