Theoretically the birth of the humanoid robot arises from the study of human characteristics of movement. However, following the human model does not mean copying it. It is still a big challenge to develop an advanced humanoid robot. Most researchers have shown an interest in developing an ideal theory to keep the balance in various grounds while walking since it is so important for the surviva...

This paper proposes an on-line trajectory modification scheme for biped robots to cope with uncertainty o] their environment. For stable locomotion, biped robots should have robust properties against various disturbances such as ground irregularity and external pushing or pulling .forces. Since such uneertainty is not known a priori, biped robots should have the ability to adapt to them on-line...

Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called “the divergent component of motion”. These techniques allow us to generate walking...

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

While humans or biped humanoid robots perform activities such as jogging and running, an accident event such as a fall may occur. This might cause damage to the human body or to the structural components of the robot. For humans, immediate identification of a fall will allow fast responses, while for a robot, early prediction can be used to take corrective measures to prevent a fall. Modern wir...

The interest in biped robots has highly increased in the last few years. The availability of cheap and advanced actuators and electronic controllers allowed the realization of many biped systems. There are some very famous humanoid robots, like the SONY SDR3X, or the HONDA Asimo. But there are also a lot of other biped robots at university research level. Many control strategy have been propose...

Underactuation, impulsive nature of the impact with the environment, the existence of feet structure and the large number of degrees of freedom are the basic problems in control of the biped robots. Underactuation is naturally associated with dexterity [1]. For example, headstands are considered dexterous. In this case, the contact point between the body and the ground is acting as a pivot with...

Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its potential benefits to prothesis development and testing. This paper concentrates on issues related to the automatic control of biped robots. More precisely, its primary goal is to contribute a means to p...

In this paper, a stability control strategy for underactuated biped robots is proposed based on imbalance degree. The dynamic models of single-leg support of underactuated biped robots are firstly illustrated. Based on the external disturbance force strength of the system, the motion process of an underactuated biped robot is partitioned into three stages according to the imbalance degree. In d...