Fast human walking includes a phase where the stance heel rises from the ground and the
stance foot rotates about the stance toe. This phase where the biped becomes …

To improve the efficiency of hydraulic system of legged robot, a particular driving system is
presented in this paper by imitating the multi-stage energy supplement from biological …

The design of modern robotic devices faces numerous requirements and limitations which
are related to optimization and robustness. Consequently, these stringent requirements …

Purpose This paper aims to develop an adaptable control architecture for electrohydraulic
humanoid robots (HYDROïD) that emulate the functionality of the human nervous system …

In order to improve the efficiency of multi-actuator mobile robots hydraulic system, this paper
proposes a new kind of cylinder whose effective area is variable. The new cylinder has multi …

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid
robotics application. Since the designing and control of humanoid robots are still open …

Designing and control of biped robot are still open questions. Design of ankle joint which is
considered one of the more compact with high power capacity and low weight is a big …

Electro-hydrostatic actuators (EHA) are highly resembled hydraulic actuators. For specific
applications under gravity loads, an innovative structure of EHA using double variable pump …

In the field of robotics, mechanical power transmission systems are fundamental and critical
components. In recent years, hydrostatic transmission systems (HSTs) have begun to …

This paper deals with a research work aimed to develop a new three degrees of freedom
(DOF) mechanism for humanoid robots. The main idea is to build hybrid (3DOF) mechanism …