— Fluid bipedal locomotion remains a significant challenge for humanoid robotics. Recent bio-inspired approaches have made significant progress by using small numbers of tightl...
— It is expected that variation of leg compliance, that is determined not only by joint compliance but by joint angle, contributes to provide multi-modal locomotion such as walki...
We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain fro...
We describe a framework for the automatic synthesis of biped locomotion controllers that adapt to uneven terrain at run-time. The framework consists of two components: a per-foots...