The effective use of computational modeling and simulation tools early in the design process
is arguably becoming a gold standard for modern product development. Compared to many …

A review of human walking modeling and simulation is presented. This review focuses on
physics-based human walking simulations in the robotics and biomechanics literature. The …

We introduce a new method of a biped walking pattern generation by using a preview
control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a …

Bipedal locomotion is among the most difficult challenges in control engineering. Most
books treat the subject from a quasi-static perspective, overlooking the hybrid nature of …

The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

We present a control architecture for fast quadruped locomotion over rough terrain. We
approach the problem by decomposing it into many sub-systems, in which we apply state-of …

This paper presents the development of humanoid robotics platform-4 (or HRP-4 for short).
The high-density implementation used for HRP-4C, the cybernetic human developed by …

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

This paper presents the open architecture humanoid robotics platform (OpenHRP) which
consists of a simulator and motion control library of humanoid robots. The binary software …

The control of a biped humanoid is a challenging task due to the hard-to-stabilize dynamics.
Walking reference trajectory generation is a key problem. Linear Inverted Pendulum Model …