In this paper, we describe the concept and implementation of a dynamics filter, an online, full-
body motion generator that converts a physically infeasible reference motion into a feasible …

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 …

This dissertation aims to develop a dynamic model of human gait, especially the working
principle of the central nervous system (CNS), using a novel predictive approach. Based on …

In this paper, we propose a gait transition algorithm between walking and running for fast
movement of a biped robot. Firstly, considering that walking and running differ in the …

In this paper, we propose a new formulation of the dynamics of human figures, which are
characterized by their frequent contact with the environment and underactuation due to the …

The objective of the work is to evaluate the contribution of flexibilities in the feet of a bipedal
robot during a dynamic walk. The two major effects are the diminution of the intensity of the …

Since a biped humanoid inherently suffers from instability and always risks to tipping over,
stable and reliable biped walking is the most important goal. The simulator is a significant …

In this paper, a running cycle is divided into a stance phase and a flight phase, and
impedance control algorithms for each phase are proposed. In the stance phase, under the …

Since most conventional robots cannot easily be adapted to environments designed for
humans, a human-size biped robot is expected to be able to play an important role in …

This article presents a study about a mobility aid system, which integrates adaptive control
interface for a robotic walker. The objective is to give to the patient more flexibility in the …