Abstract: The control of underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent on ...

Abstract The control of an underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent ...

The research works contained in this paper are focused on the generation of a stable walking pattern of a biped robot and the study of its dynamic ...

The control of underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent on the state ...

The mapping, called the Poincaré return map, is defined by following the evolution of a trajectory of the continuous-time system from a point on the plane to ...

In this paper, we address the challenge of ensuring stability in bipedal walking robots and exoskeletons. We explore the feasibility of real-time ...

Dec 15, 2020 · This article proposes a new stable biped walking pattern generator with preset step-length value, optimized by multi-objective JAYA algorithm.

This research investigates the possibility of controlling a simple biped having two degrees of freedom only. The biped robot walked on large feet.

Mar 13, 2024 · This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering ...

As long as CoM trajectory was adjusted well, stable walking of biped robot can be controlled even in the presence of disturbances. It is proved that the method ...