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Locomotion is a fundamental skill, yet generating robust and natural motion is challenging. This has led to the development of various locomotion controllers. Robustness, defined as responsiveness to external perturbations and environmental changes, is a fundamental requirement in locomotion control. However, a lack of objective and systematic comparisons is evident in existing controllers. In this article, we propose a benchmark framework for evaluating and comparing the robustness of locomotion controllers using multiple criteria. In order to assess the responsiveness of the controller, external perturbations are applied to a simulated biped character at different gait phases. This analysis offers insights into the behavior of controllers, highlights the limitations of existing approaches, and motivates a novel controller called MMIPM\u2010RL.<\/jats:p>","DOI":"10.1002\/cav.70136","type":"journal-article","created":{"date-parts":[[2026,5,25]],"date-time":"2026-05-25T04:55:01Z","timestamp":1779684901000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Analysis of Robustness in Biped Locomotion Controllers"],"prefix":"10.1002","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-3366-7453","authenticated-orcid":false,"given":"Gangrae","family":"Park","sequence":"first","affiliation":[{"name":"Department of Computer Science Hanyang University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-4984-3540","authenticated-orcid":false,"given":"Seung\u2010Wook","family":"Ko","sequence":"additional","affiliation":[{"name":"Department of Computer Science Hanyang University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9253-2156","authenticated-orcid":false,"given":"Taesoo","family":"Kwon","sequence":"additional","affiliation":[{"name":"Department of Computer Science Hanyang University  Seoul Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4209-4266","authenticated-orcid":false,"given":"Yejin","family":"Kim","sequence":"additional","affiliation":[{"name":"School of Games Hongik University  Sejong Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,5,24]]},"reference":[{"issue":"4","key":"e_1_2_12_2_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3197517.3201311","article-title":"Deepmimic: Example\u2010Guided Deep Reinforcement Learning of Physics\u2010Based Character Skills","volume":"37","author":"Peng X. 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