With their anthropomorphic design, humanoid robots are naturally adapted to human environments; however, high degrees of freedom, severe nonlinear dynamics, and small stability margins make autonomous locomotion a major bottleneck for practical applications. This paper surveys the key algorithms for humanoid robot loco...
Effective gait generation is crucial for the development of bipedal robots. However, achieving human-like locomotion remains a major challenge in robotics, primarily due to the system’s high degrees of freedom, inherent nonlinearity, and the complex spatiotemporal characteristics of human walking. This study proposed a...
Despite recent advances in humanoid locomotion, controllers optimized for command tracking and robustness tend to produce mechanical gaits, whereas controllers tied to human motion data often fail to generalize to commands outside the data distribution. This work introduces a learning framework that balances these comp...
A functional closed-loop walking controller for Poppy, based on the linear-quadratic regulator (LQR) framework for trajectory tracking, which learns a quadratic cost function for an LQR controller that substantially improves the reliability of the motion.
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