Prim's algorithm has demonstrated a very effective and selective method of solving the
minimum spanning tree optimization problems. It is a greedy algorithm that starts from an …

The crux in designing the PID controller lies in determining its gain values, which play a
major role in deciding its performance. The gains are fed as inputs to the controller and are …

A foot positioning compensator is developed in this paper for a full-body humanoid to
retrieve its balance during continuous walking. An online Foot Position Compensator (FPC) …

This work concerns biped adaptive walking control on irregular terrains with online trajectory
generation. A new trajectory generation method is proposed based on two neural networks …

The compliant motion of humanoid robots is one of their most important characteristics for
interacting with humans and various environments in the real world. During walking …

This paper presents a novel method for joint sensor faults detection and faulty signal
reconstruction. It uses the Virtual Joint Sensor (VJS). The model structure of the VJS consists …

To properly function in real-world environments, a humanoid robot must be able to adapt its
walking gait to new situations. In this paper, an adaptive bipedal walking control method that …

To maintain human-like active balance in a humanoid robot, this article proposes a dynamic
priority-based multitask algorithm to avoid self-collision during highly complex robotic whole …

One of the major tasks in developing bipedal walking robots is to improve energy efficiency
of their locomotion. In this paper a method for extending this research by considering ground …

This paper proposed a new approach for the joint friction estimation of non-slipping walking
biped robots. The proposed approach is based on the combination of a measurement-based …