Abstract: Normal human walking typically consists of phases during which the body is statically unbalanced while maintaining dynamic stability. Quantifying the dynamic characteristics of human walking can provide better understanding ...

Abstract: To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of ...

Abstract: A theoretical–algorithmic framework for the construction of balance stability boundaries of biped robots with multiple contacts with the environment is proposed and implemented on a robotic platform. Comprehensive and ...

Abstract: Maintaining stability in jumping robots remains a challenge due to their hybrid dynamics. Despite recent advances, existing research lacks a clear definition and comprehensive criteria for jumping stability. To address ...