Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

The Cassie bipedal robot designed by Agility Robotics is providing academics with a
common platform for sharing and comparing algorithms for locomotion, perception, and …

For 3D walking control of a biped robot we analyze the dynamics of a 3D inverted pendulum
in which motion is constrained to move along an arbitrarily defined plane. This analysis …

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 …

Biped robots have better mobility than conventional wheeled robots, but they tend to tip over
easily. To be able to walk stably in various environments, such as on rough terrain, up and …

During gait the body is in a continuous state of imbalance, with each subsequent step
preventing a fall. Gait balance is maintained by regulating the interactions between the …

For real-time walking control of a biped robot, we analyze the dynamics of a three-
dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined …

Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

In this paper, we describe the concept and implementation of a dynamics filter, an online, full-
body motion generator that converts a physically infeasible reference motion into a feasible …

For three-dimensional (3D) walking control of a biped robot we analyze the dynamics of a
3D inverted pendulum in which motion is constrained to move along an arbitrarily defined …