During biped stance or locomotion, humans show remarkable skills in reactive balancing
upon external disturbances. Mainly four types of external disturbances are relevant for …

Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

Many of our motor activities require stabilization against external disturbances. This
especially applies to biped stance since it is inherently unstable. Disturbance compensation …

For real-world applications, a biped robot should maintain stable walking when subjected to
sudden external disturbances. Typically, unexpected changes to body acceleration indicate …

The inverse kinematics of a 12 degrees-of-freedom (DOFs) biped robot is formulated in
terms of certain parameters. The biped walking gaits are developed using the parameters …

This paper provides an update on the neural control of bipedal walking in relation to
bioinspired models and robots. It is argued that most current models or robots are based on …

Despite human balance maintenance in quiet conditions could seem a trivial motor task, it is
not. Recently, the human stance was described through a double link inverted pendulum …

A humanoid robot similar to a human is structurally unstable, so the push recovery control is
essential. The proposed push recovery controller consists of a IMU sensor part, a highlevel …

Balance strategies range from continuous postural adjustments to discrete changes in
contacts: their simultaneous execution is required to maintain postural stability while …

One of the most interesting and pressing challenges in the study on biped humanoid robots
is to achieve high robustness in locomotion. This paper presents a brief overview of work …