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 ...