This paper presents a trajectory generation algorithm for a three-dimensional (3D) biped
robot that can adjust the center of mass (CoM) according to the environment. We adopt a …

For successful push recovery in response to perturbations, a humanoid robot must select an
appropriate stabilizing action. Existing approaches are limited because they are often …

Balance assessment during physical rehabilitation often relies on rubric-oriented battery
tests to score a patient's physical capabilities, leading to subjectivity. While some objective …

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 …

Robotic tasks often exceed the scope of steady-state or periodic behavior, which
necessitates generally-applicable models of actuators intended to generate transient or …

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 …

抄録 Humans can perform stable motion with a sense of stability that involves identifying
their center of gravity point with plantar sensory system. By contrast, the stability of a …

For successful push recovery control in response to unpredicted perturbations, a humanoid
robot must select the appropriate stabilizing action from a wide range of available strategies …

For proper balance assessment during a physical rehabilitation program, clinicians typically
rely on rubric-oriented battery tests to score a patient's physical capabilities, which can lead …

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 …