The development of a robust and versatile biped walking engine might be considered one of
the hardest problems in Mobile Robotics. Even well-developed cities contains obstacles that …

Bipedal humanoid robots are inherently unstable to external perturbations, especially when
they are walking on uneven terrain in the presence of unforeseen collisions. In this paper …

Abstract Machine learning offers to robotics a framework and set of tools for the design of
sophisticated and hard-to-engineer behaviors; conversely, the challenges of robotic …

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 …

Bipedal humanoid robots are intrinsically unstable against unforeseen perturbations.
Conventional zero moment point (ZMP)-based locomotion algorithms can reject …

This work implements a Push Recovery controller that improves a walking engine used by a
humanoid simulated agent from RoboCup 3D Soccer Simulation League. Therefore, we …

Bipedal walking in human environments is made difficult by the unevenness of the terrain
and by external disturbances. Most approaches to bipedal walking in such environments …

To achieve walking and push recovery successfully, a biped robot must be able to determine
if it can maintain its current contact configuration or transition into another one without falling …

Legged robots are well-suited for operation in challenging natural environments, such as
steep obstacles or vast gaps in the ground. Aside from difficult terrain, robots may also …

We present an approach on fall detection and recovery perturbation during humanoid robot
swinging. Reinforcement learning (Q-learning) is employed to explore relationship between …