Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …

The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …

Over the last two decades, the foundations for physical human–robot interaction (pHRI) have
evolved from successful developments in mechatronics, control, and planning, leading …

This paper gives an overview on the torque-controlled humanoid robot TORO, which has
evolved from the former DLR Biped. In particular, we describe its mechanical design and …

A model-free robust adaptive controller is proposed for control of humanoid robots with
flexible joints. The proposed controller uses a time-delay estimation technique to estimate …

Robots with legs and arms have the potential to support humans in dangerous, dull or dirty
tasks. A major motivation behind research on such robots is their potential versatility …

Recently, a series elastic actuator (SEA) has emerged as a potential actuator system for
various robotic applications where safe and precise interactive force control is required …