Autonomous navigation in dynamic and unknown environments requires real-time path
planning. Solving the path planning problem for bipedal locomotion quickly and robustly is …

Autonomous navigation in complex environments featuring obstacles, varying ground
compositions, and external disturbances requires real-time motion generation and …

In order to achieve real autonomy, robots have to be able to navigate in completely unknown
environments. Due to the complexity of computer vision algorithms, almost every approach …

In order to accurately reach a target position while executing a task which imposes occlusion
or constraints of the posture, a humanoid robot requires an adaptive locomotion system …

Bipedal locomotion is more than dynamically stable walking. The redundant kinematic
design of humanoid robots allows for complex motions in complex scenarios. One challenge …

Most walking controllers for biped robots are based on a synchronized phase-based
structure, where trajectories are executed following predefined timing constraints. This …

Classic biped walking controllers assume a perfectly flat, rigid surface on which the robot
walks. While walking over unknown terrain, robots need to sense and estimate the ground …

Bipedal robots can be better alternatives to other robots in certain applications, but their full
potential can only be used if their entire kinematic range is cleverly exploited. Generating …

Increased walking stability and energy efficiency are both important factors for enhancement
of the performance of a biped robot. However, it is difficult to derive the optimal control law …

In the literature, several works are reported about the gait of bipedal robots. Some papers
are associated with stability or automatic learning and navigation, but no paper was found …