Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

“…Speed of Climbing(second/step) Raibert biped [10] MSRox [11] PackBot [3] Honda P3 [12] Rhex [13] WL-12RIII [14] Wheel-leg Biped [15] …”

The Development of Emotional Flexible Spine Humanoid Robots

“…Based on the concept of Zero Moment Point (ZMP) proposed by Miomir Vukobratovic (Vukobratovic et al, 1970;Vukobratovic & Borovac, 2004), Atsuo Takanishi at Waseda University applied the ZMP criterion to realize stable walking for biped robots (Takanishi et al, 1988;Takanishi, 1993). His approach contributes greatly to the development of walking humanoid robots.…”

Modelling and control of a biped robot

“…Structures similar to the ones considered in this paper are presented in (Ching-Long Shi, 1999), using prismatic joints and a counterweight mass, and in (Eturoo Igarishi and Tooru Nogai, 1992), using revolution joints without a waist. Alternative kinematic structures, using counterweight devices to improve stability, are reported in (Ching-Long Shi, 1999;Atsuo Takanishi et al, 1990;C. Chanchai and C. Prabhas, 2001).…”

“…Biped robots are usually studied aiming at emulating human like locomotion capabilities, (Gill A. Pratt, 2000;Youji Nakajima et al, 2000;Atsuo Takanishi et al, 1990), although animal biped locomotion deserved also some attention, (J. Pratt and G. Pratt, 1998).…”