{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T14:32:38Z","timestamp":1773930758590,"version":"3.50.1"},"reference-count":208,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2015,2,24]],"date-time":"2015-02-24T00:00:00Z","timestamp":1424736000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Researchers dream of developing autonomous humanoid robots which behave\/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability\/balance criterion adopted for stabilization of miscellaneous walking\/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.<\/jats:p>","DOI":"10.1017\/s0263574715000107","type":"journal-article","created":{"date-parts":[[2015,2,24]],"date-time":"2015-02-24T10:37:30Z","timestamp":1424774250000},"page":"2440-2466","source":"Crossref","is-referenced-by-count":44,"title":["Multi-level control of zero-moment point-based humanoid biped robots: a review"],"prefix":"10.1017","volume":"34","author":[{"given":"Hayder F. N.","family":"Al-Shuka","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Corves","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Hong","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Vanderborght","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,2,24]]},"reference":[{"key":"S0263574715000107_ref181","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2013.2242486"},{"key":"S0263574715000107_ref90","doi-asserted-by":"publisher","DOI":"10.1109\/37.482132"},{"key":"S0263574715000107_ref133","doi-asserted-by":"publisher","DOI":"10.1007\/PL00007986"},{"key":"S0263574715000107_ref106","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022600522613"},{"key":"S0263574715000107_ref192","doi-asserted-by":"crossref","unstructured":"Y. Hwang , E. Inohira , A. Konno and M. Uchiyama , \u201cAn Order n Dynamic Simulator for a Humanoid Robot with a Virtual Spring-Damper Contact Model,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03), vol. 1, pp. 31\u201336 (Sep. 2003).","DOI":"10.1109\/ROBOT.2003.1241569"},{"key":"S0263574715000107_ref36","volume-title":"Springer Handbook of Robotics","author":"Kajita","year":"2008"},{"key":"S0263574715000107_ref208","doi-asserted-by":"crossref","unstructured":"K. Y. Yi , \u201cLocomotion of a Biped Robot with Compliant Ankle Joints,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, vol. 1, pp. 199\u2013204 (Apr. 1997).","DOI":"10.1109\/ROBOT.1997.620038"},{"key":"S0263574715000107_ref182","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1017\/S0263574713000775","article-title":"Function approximation technique-based adaptive virtual decomposition control for a serial chain manipulator","volume":"32","author":"Hayder","year":"2014","journal-title":"Robotica"},{"key":"S0263574715000107_ref169","volume-title":"Robot Manipulator Control: Theory and Practice","author":"Lewis","year":"2006"},{"key":"S0263574715000107_ref173","doi-asserted-by":"publisher","DOI":"10.1080\/00207170410001705005"},{"key":"S0263574715000107_ref152","doi-asserted-by":"crossref","unstructured":"S. Setiawan , S. Hyon , J. Yamaguchi and A. Takanishi , \u201cPhysical Interaction between Human and a Bipedal Humanoid Robot \u2013 Realization of Human-Follow Walking,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, vol. 1, pp. 361\u2013367 (May 1999).","DOI":"10.1109\/ROBOT.1999.770005"},{"key":"S0263574715000107_ref195","doi-asserted-by":"crossref","unstructured":"W. Blajer and W. O. Schiehlen , \u201cA control scheme for biped walking without impacts,\u201d Lecture Notes in Control and Information Sciences, vol. 187, pp. 311\u2013321 (1993).","DOI":"10.1007\/BFb0031458"},{"key":"S0263574715000107_ref158","doi-asserted-by":"crossref","unstructured":"P.-B. Wieber , \u201cViability and Predictive Control for Safe Locomotion,\u201d IEEE\/RSJ International Conference on Robots and Systems, Nice, France, pp. 1103\u20131108 (Sept. 2008).","DOI":"10.1109\/IROS.2008.4651022"},{"key":"S0263574715000107_ref172","unstructured":"J. H. Park and H. Chung , \u201cHybrid Control for Biped Robots using Impedance Control and Computed-Torque Control,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, vol. 2, pp. 1365\u20131370 (1999)."},{"key":"S0263574715000107_ref203","doi-asserted-by":"publisher","DOI":"10.1115\/1.2919396"},{"key":"S0263574715000107_ref140","doi-asserted-by":"crossref","unstructured":"S. Kajita , K. Yokoi , M. Saigo and K. Tanie , \u201cBalancing a Humanoid Robot using Backdrive Concerned Torque Control and Direct Angular Momentum Feedback,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, vol. 4, pp. 3376\u20133382 (May 2001).","DOI":"10.1109\/ROBOT.2001.933139"},{"key":"S0263574715000107_ref117","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.03.007"},{"key":"S0263574715000107_ref120","unstructured":"S. Wright , \u201cApplying New Optimization Algorithms to Model Predictive Control,\u201d 5th International Conference on Chemical Process Control-CPC-V (1996)."},{"key":"S0263574715000107_ref168","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1989"},{"key":"S0263574715000107_ref110","doi-asserted-by":"crossref","unstructured":"Y. Choi , B.-J. You and S.-R. Oh , \u201cOn the Stability of Indirect ZMP Controller for Biped Robot Systems,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, vol. 2, pp. 1966\u20131971 (Oct. 2004).","DOI":"10.1109\/IROS.2004.1389686"},{"key":"S0263574715000107_ref206","first-page":"1","article-title":"Dynamic modeling of biped robot using Lagrangian and recursive Newton-Euler formulations","volume":"101","author":"Al-Shuka","year":"2014","journal-title":"Int. J. Comput. Appl."},{"key":"S0263574715000107_ref198","doi-asserted-by":"crossref","unstructured":"M. Shibata and T. Natori , \u201cImpact Force Reduction for Biped Robot based on Decoupling COG Control Scheme,\u201d 6th International Workshop on Advanced Motion Control, Nagoya, Japan, pp. 612\u2013617 (Apr. 2000).","DOI":"10.1109\/AMC.2000.862951"},{"key":"S0263574715000107_ref164","doi-asserted-by":"crossref","unstructured":"N. Kalamian and M. Farrokhi , \u201cStepping of Biped Robots Over Large Obstacles using NMPC Controller,\u201d 2nd International Conference on Control, Instrumentation and Automation (ICCIA), Shiraz, Iran, pp. 917\u2013922 (2011).","DOI":"10.1109\/ICCIAutom.2011.6356784"},{"key":"S0263574715000107_ref109","doi-asserted-by":"crossref","unstructured":"T. Sugihara , Y. Nakamura and H. Inoue , \u201cRealtime Humanoid Motion Generation Through ZMP Manipulation based on Inverted Pendulum Control,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, vol. 2, pp. 1404\u20131409 (May 2002).","DOI":"10.1109\/ROBOT.2002.1014740"},{"key":"S0263574715000107_ref148","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.810579"},{"key":"S0263574715000107_ref171","doi-asserted-by":"publisher","DOI":"10.1115\/1.2839633"},{"key":"S0263574715000107_ref147","doi-asserted-by":"crossref","unstructured":"O. Brock , O. Khatib and S. Viji , \u201cTask-Consistent Obstacle Avoidance and Motion behavior for Mobile Manipulation,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'02), Washington, DC, vol. 1, pp. 388\u2013393 (May 2002).","DOI":"10.1109\/ROBOT.2002.1013391"},{"key":"S0263574715000107_ref141","doi-asserted-by":"crossref","unstructured":"N. Oda and M. Ito , \u201cExperimental Study of Walking Motion Stabilization for Biped Robot with Flexible Ankle Joints,\u201d 35th Annual Conference of IEEE on Industrial Electronics (IECON'09), Porto, pp. 4197\u20134202 (Nov. 2009).","DOI":"10.1109\/IECON.2009.5415078"},{"key":"S0263574715000107_ref116","doi-asserted-by":"crossref","unstructured":"S. Shimmyo and K. Ohnishi , \u201cNested Preview Control by Utilizing Virtual Plane for Biped Walking Pattern Generation Including COG up-down Motion,\u201d 36th Annual Conference on IEEE Industrial Electronics Society, Glendale, AZ, pp. 1571\u20131576 (Nov. 2010).","DOI":"10.1109\/IECON.2010.5675450"},{"key":"S0263574715000107_ref178","doi-asserted-by":"crossref","unstructured":"S. H. Lee , J. B. Park and Y. H. Choi , \u201cSliding Mode Control based on Self-Recurrent Wavelet Neural Network for Five-Link Biped Robot,\u201d International Joint Conference (SICE-ICASE), Busan, Korea, pp. 726\u2013731 (Oct. 2006).","DOI":"10.1109\/SICE.2006.315236"},{"key":"S0263574715000107_ref137","doi-asserted-by":"crossref","unstructured":"H. Ono , T. Sato and K. Ohnishi , \u201cBalance Recovery of Ankle Strategy: Using Knee Joint for Biped Robot,\u201d 1st International Symposium on Access Space (ISAS), Yokohama, pp. 236\u2013241 (2011).","DOI":"10.1109\/ISAS.2011.5960955"},{"key":"S0263574715000107_ref112","doi-asserted-by":"crossref","unstructured":"S. Hong , Y. Oh , Y.-H. Chang and B.-J. You , \u201cWalking Pattern Generation for Humanoid Robots with LQR and Feedforward Control Method,\u201d 34th Annual Conference of IEEE on Industrial Electronics, Orlando, FL, pp. 1698\u20131703 (Nov. 2008).","DOI":"10.1109\/IECON.2008.4758209"},{"key":"S0263574715000107_ref97","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300206"},{"key":"S0263574715000107_ref93","unstructured":"J. Schaefer , \u201cOn the Bounded Control of some Unstable Mechanical Systems,\u201d Dept. of Aeronautics and Astronautics (Stanford University, SUDAR Rep. 233, Apr. 1965)."},{"key":"S0263574715000107_ref119","doi-asserted-by":"crossref","unstructured":"D. Dimitrov , P.-B. Wieber , H. J. Ferreau and M. Diehl , \u201cOn the Implementation of Model Predictive Control for On-line Walking Pattern Generation,\u201d IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, pp. 2685\u20132690 (May 2008).","DOI":"10.1109\/ROBOT.2008.4543617"},{"key":"S0263574715000107_ref92","volume-title":"Dynamics of Physical Systems","author":"Cannon","year":"1967"},{"key":"S0263574715000107_ref136","doi-asserted-by":"crossref","unstructured":"A. Nishio , K. Takahashi and D. N. Nenchev , \u201cBalance Control of a Humanoid Robot based on the Reaction Null Space Method,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp. 1996\u20132001 (2006).","DOI":"10.1109\/IROS.2006.282408"},{"key":"S0263574715000107_ref125","doi-asserted-by":"crossref","unstructured":"K. Harada , S. Kajita , K. Kaneko and H. Hirukawa , \u201cAn Analytical Method on Real-Time Gait Planning for a Humanoid Robot,\u201d IEEE\/RAS International Conference on Humanoid Robots, vol. 2, pp. 640\u2013655 (2004).","DOI":"10.1109\/ICHR.2004.1442676"},{"key":"S0263574715000107_ref95","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1973.1100432"},{"key":"S0263574715000107_ref34","doi-asserted-by":"publisher","DOI":"10.1115\/1.2815334"},{"key":"S0263574715000107_ref101","doi-asserted-by":"crossref","unstructured":"S. Kudoh and T. Komura , \u201cC2 Continuous Gait-Pattern Generation for Biped Robots,\u201d Proceedings of the 2003 IEEE\/RSJ Intelligent Robots and Systems, Las Vegas, Nevada, vol. 2, pp. 1135\u20131140 (2003).","DOI":"10.1109\/IROS.2003.1248797"},{"key":"S0263574715000107_ref48","doi-asserted-by":"crossref","unstructured":"B. Yuksel , C. Zhou and and K. Leblebicioglu , \u201cGround Reaction Force Analysis of Biped Locomotion,\u201d Proceedings of the 2004 IEEE Conference on Robotics, Automation and Mechatronics, Singapore, vol. 1, pp. 330\u2013335 (Dec. 2004).","DOI":"10.1109\/RAMECH.2004.1438940"},{"key":"S0263574715000107_ref142","doi-asserted-by":"crossref","unstructured":"T. Sato and K. Ohnishi , \u201cZMP Disturbance Observer for Walking Stabilization of Biped Robot,\u201d 10th IEEE International Workshop on Advanced Motion Control (AMC'08), Trento, pp. 290\u2013295(Mar. 2008).","DOI":"10.1109\/AMC.2008.4516081"},{"key":"S0263574715000107_ref79","doi-asserted-by":"crossref","unstructured":"Y. Kuroki , B. Blank , T. Mikami , P. Mayeux , A. Miyamoto , R. Playter , K. Nagasaka , M. Raibert , M. Nagano and J. Yamaguchi , \u201cMotion Creating System for a Small Biped Entertainment Robot,\u201d Proceedings of the IEEE\/RSJ International conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, vol. 2, pp. 1394\u20131399 (Oct. 2003).","DOI":"10.1109\/IROS.2003.1248839"},{"key":"S0263574715000107_ref85","doi-asserted-by":"crossref","unstructured":"J. Kuffner , S. Kagami , K. Nishiwaki , M. Inaba and H. Inoue , \u201cOnline Footstep Planning for Humanoid Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, vol. 1, pp. 932\u2013937 (Sept. 2003).","DOI":"10.1109\/ROBOT.2003.1241712"},{"key":"S0263574715000107_ref127","doi-asserted-by":"crossref","unstructured":"M. Morisawa , K. Harada , S. Kajita , K. Kaneko , J. Sola , E. Yoshida , N. Mansard , K. Yokoi and J.-P. Laumond , \u201cReactive Stepping to Prevent Falling for Humanoids,\u201d 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France, pp. 528\u2013534 (2009).","DOI":"10.1109\/ICHR.2009.5379522"},{"key":"S0263574715000107_ref43","doi-asserted-by":"crossref","unstructured":"J. H. Park and K. D. Kim , \u201cBiped Robot Walking using Gravity-Compensated Inverted Pendulum mode and Computed Torque Control,\u201d Proceedings of the 1998 IEEE International conference of Robotics & Automation, Leuven, Belgium, vol. 4, pp. 3528\u20133533 (May 1998).","DOI":"10.1109\/ROBOT.1998.680985"},{"key":"S0263574715000107_ref58","doi-asserted-by":"crossref","unstructured":"M. Popovic , A. Hofmann and H. Herr , \u201cAngular Momentum Regulation during Human Walking: Biomechanics and Control,\u201d IEEE International Conference on Robotics and Automation, New Orleans, LA, USA, vol. 3, pp. 2405\u20132411 (2004).","DOI":"10.1109\/ROBOT.2004.1307421"},{"key":"S0263574715000107_ref60","doi-asserted-by":"crossref","unstructured":"M. Popovic , A. Hofmann and H. Herr , \u201cZero Spin Angular Momentum Control: Definition and Applicability,\u201d IEEE-RAS\/RSJ International Conference on Humanoid Robots, Los Angeles, CA, vol. 1, pp. 478\u2013493 (2004).","DOI":"10.1109\/ICHR.2004.1442139"},{"key":"S0263574715000107_ref149","doi-asserted-by":"publisher","DOI":"10.1111\/1467-8659.00436"},{"key":"S0263574715000107_ref4","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , Y. Sugahara , H. Sunazuka , C. Tanaka , A. Ohata , M. Kawase , H.-O. Lim and A. Takanishi , \u201cBiped Landing Pattern Modification Method with Nonlinear Compliance Control,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, pp. 1213\u20131218 (May, 2006).","DOI":"10.1109\/ROBOT.2006.1641874"},{"key":"S0263574715000107_ref14","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0263574715000107_ref186","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2008.923154"},{"key":"S0263574715000107_ref53","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.008573"},{"key":"S0263574715000107_ref45","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.3.325"},{"key":"S0263574715000107_ref175","doi-asserted-by":"crossref","unstructured":"A. B. Pournazhdi , M. Mirzaei and A. R. Ghiasi , \u201cDynamic Modeling and Sliding Mode Control for Fast Walking of Seven-Link Biped Robot,\u201d 2nd International Conference on Control, Instrumentation, and Automation (ICCIA), Shiraz, Iran, pp. 1012\u20131017 (Dec. 2011).","DOI":"10.1109\/ICCIAutom.2011.6356800"},{"key":"S0263574715000107_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101650"},{"key":"S0263574715000107_ref23","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574713001124"},{"key":"S0263574715000107_ref50","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832811"},{"key":"S0263574715000107_ref10","doi-asserted-by":"crossref","unstructured":"Y. Sugahara , T. Endo , H.-O. Lim and A. Takanishi , \u201cDesign of a Battery-Powered Multi-Purpose Bipedal Locomotor with Parallel Mechanism,\u201d Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, pp. 2658\u20132663 (Oct. 2002).","DOI":"10.1109\/IRDS.2002.1041671"},{"key":"S0263574715000107_ref135","doi-asserted-by":"crossref","unstructured":"D. N. Nenchev and A. Nishio , \u201cExperimental Validation of Ankle and Hip Strategies for Balance Recovery with a Biped Subjected to An Impact,\u201d Proceedings of the IEEE\/RSJ International Conference on Robots and Systems, San Diego, CA, pp. 4035\u20134040 (Nov. 2007).","DOI":"10.1109\/IROS.2007.4399038"},{"key":"S0263574715000107_ref99","doi-asserted-by":"crossref","unstructured":"J. E. Pratt and S. V. Drakunov , \u201cDerivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model,\u201d IEEE International Conference on Robotics and Automation, Roma, pp. 4653\u20134660 (2007).","DOI":"10.1109\/ROBOT.2007.364196"},{"key":"S0263574715000107_ref15","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X324749"},{"key":"S0263574715000107_ref155","doi-asserted-by":"crossref","unstructured":"S.-H. Hyon and G. Cheng , \u201cPassivity-Based Full-body Force Control for Humanoids and Application to Dynamic Balancing and Locomotion,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4915\u20134922 (Oct. 2006).","DOI":"10.1109\/IROS.2006.282450"},{"key":"S0263574715000107_ref9","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , Y. Sugahara , A. Hayashi , M. Kawase , T. Sawato , N. Endo , A. Ohta , C. Tanaka , H.-O. Lim and A. Takanishi , \u201cNew Foot System Adaptable to Convex and Concave Surface,\u201d Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 1869\u20131874 (2007).","DOI":"10.1109\/ROBOT.2007.363594"},{"key":"S0263574715000107_ref68","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-9514(14)60300-7"},{"key":"S0263574715000107_ref42","doi-asserted-by":"crossref","unstructured":"J. Or and A. Takanishi , \u201cA Biologically Inspired CPG-ZMP Control System for the Real-Time Balance of a Single-Legged Belly Dancing Robot,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, vol. 1, pp. 931\u2013936 (Oct. 2004).","DOI":"10.1109\/IROS.2004.1389472"},{"key":"S0263574715000107_ref49","doi-asserted-by":"crossref","unstructured":"A. Takanishi , T. Takeya , H. Karaki and I. Kato , \u201cA control method for dynamic biped walking under unknown external force,\u201d IEEE International Workshop on Intelligent Robots and Systems, IROS'90, Ibaraki, vol. 2, pp. 795\u2013801 (Jul. 1990).","DOI":"10.1109\/IROS.1990.262498"},{"key":"S0263574715000107_ref121","unstructured":"R. A. Bartlett , A. W\u00e4chter and L. T. Biegler , \u201cActive set vs. Interior Point Strategies for Model Predictive Control,\u201d Proceedings of the American Control Conference, Chicago, IL, vol. 6, pp. 4229\u20134233 (2000)."},{"key":"S0263574715000107_ref21","doi-asserted-by":"crossref","unstructured":"I.-W. Park , J.-Y. Kim and J.-H. Oh , \u201cOnline Biped Walking Pattern Generation for Humanoid Robot KHR-3(KAIST Humanoid Robot-3: HUBO),\u201d IEEE-RAS International Conference on Humanoid Robots, Genova, pp. 398\u2013403 (Dec. 2006).","DOI":"10.1109\/ICHR.2006.321303"},{"key":"S0263574715000107_ref156","doi-asserted-by":"crossref","unstructured":"C. Azevedo , P. Poignet and B. Espiau , \u201cMoving Horizon Control for Biped Robots without Reference Trajectory,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC, vol. 3, pp. 2762\u20132767 (May 2002).","DOI":"10.1109\/ROBOT.2002.1013650"},{"key":"S0263574715000107_ref13","doi-asserted-by":"crossref","DOI":"10.1109\/MEX.1986.4307016","volume-title":"Legged Robots that Balance","author":"Raibert","year":"1986"},{"key":"S0263574715000107_ref62","doi-asserted-by":"crossref","unstructured":"S. Kajita , F. Kanehiro , K. Kaneko , K. Fujiwara , K. Harada , K. Yokoi and H. Hirukawa , \u201cResolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum,\u201d Proceedings of the 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1644\u20131650 (2003).","DOI":"10.1109\/IROS.2003.1248880"},{"key":"S0263574715000107_ref160","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.013"},{"key":"S0263574715000107_ref25","volume-title":"Gait Analysis: An Introduction","author":"Whittle","year":"2007"},{"key":"S0263574715000107_ref177","doi-asserted-by":"crossref","unstructured":"C.-L. Hwang , \u201cA Trajectory Tracking of Biped Robots using Fuzzy-Model-Based Sliding-Mode Control,\u201d Proceedings of the 41st IEEE Conference on Decision and Control, vol. 1, pp. 203\u2013208 (Dec. 2002).","DOI":"10.1109\/CDC.2002.1184492"},{"key":"S0263574715000107_ref131","doi-asserted-by":"crossref","first-page":"1369","DOI":"10.1152\/jn.1986.55.6.1369","article-title":"Central programming of postural movements: Adaptation to altered support-surface configurations","volume":"55","author":"Horak","year":"1986","journal-title":"J. Neurophysiol."},{"key":"S0263574715000107_ref18","doi-asserted-by":"crossref","DOI":"10.1002\/9780470611623","volume-title":"Bipedal Robots, Modeling, Design and Building Walking Robots","author":"Chevallereau","year":"2009"},{"key":"S0263574715000107_ref194","doi-asserted-by":"crossref","unstructured":"H. Hirukawa , F. Kanehiro , S. Kajita , K. Fujiwara , K. Yokoi , K. Kaneko and K. Harada , \u201cExperimental Evaluation of the Dynamic Simulation of Biped walking of Humanoid Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'03), vol. 2, pp. 1640\u20131645 (Sep. 2003).","DOI":"10.1109\/ROBOT.2003.1241829"},{"key":"S0263574715000107_ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_14"},{"key":"S0263574715000107_ref67","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-006-0118-0"},{"key":"S0263574715000107_ref28","doi-asserted-by":"crossref","unstructured":"N. Handharu , J. Yoon and G. Kim , \u201cGait Pattern Generation with Knee Stretch Motion for Biped Robot using Toe and Heel Joints,\u201d IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, pp. 265\u2013270 (Dec. 2008).","DOI":"10.1109\/ICHR.2008.4755956"},{"key":"S0263574715000107_ref129","doi-asserted-by":"crossref","unstructured":"R. Tajima , D. Honda and K. Suga , \u201cFast Running Experiments Involving a Humanoid Robot, \u201cIEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 1571\u20131576 (May 2009).","DOI":"10.1109\/ROBOT.2009.5152404"},{"key":"S0263574715000107_ref59","doi-asserted-by":"crossref","unstructured":"M. Popovic , A. Englehart and H. Herr , \u201cAngular Momentum Primitives for Human Walking: Biomechanics and Control,\u201d Proceedings of te 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, vol. 2, pp. 1685\u20131691 (2004).","DOI":"10.1109\/IROS.2004.1389638"},{"key":"S0263574715000107_ref8","doi-asserted-by":"crossref","unstructured":"Y. Sugahara , K. Hashimoto , N. Endo , T. Sawato , M. Kawase , A. Ohta , C. Tanaka , A. Hayashi , H.-O. Lim and A. Takanishi , \u201cDevelopment of a Biped Locomotor with the Double Stage Linear Actuator,\u201d Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 1850\u20131855 (Apr. 2007).","DOI":"10.1109\/ROBOT.2007.363591"},{"key":"S0263574715000107_ref29","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"S0263574715000107_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10724-5"},{"key":"S0263574715000107_ref41","doi-asserted-by":"crossref","unstructured":"C. Ott , M. A. Roa and G. Hirzinger , \u201cPosture and Balance Control for Biped Robots based on Contact Force Optimization,\u201d 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Solvenia, pp. 26\u201333 (Oct. 2011).","DOI":"10.1109\/Humanoids.2011.6100882"},{"key":"S0263574715000107_ref105","doi-asserted-by":"crossref","unstructured":"R. Kurazume , S. Tanaka , M. Yamashita , T. Hasegawa and K. Yoneda , \u201cStraight Legged Walking of a Biped Robot,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Canada, pp. 3095\u20133101 (2005).","DOI":"10.1109\/IROS.2005.1545447"},{"key":"S0263574715000107_ref74","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000726"},{"key":"S0263574715000107_ref83","doi-asserted-by":"crossref","unstructured":"O. Stasse , A. Escande , N. Mansard , S. Miossec , P. Ervrard and A. Kheddar , \u201cReal-Time (Self)-Collision Avoidance Task on a HRP-2 Humanoid Robot,\u201d IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, pp. 3200\u20133205 (May 2008).","DOI":"10.1109\/ROBOT.2008.4543698"},{"key":"S0263574715000107_ref174","doi-asserted-by":"crossref","unstructured":"S. A. A. Moosavian , A. Takhmar and M. Alghooneh , \u201cRegulating Sliding mode Control of a Biped Robot,\u201d Proceedings of the International Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, pp. 1547\u20131552 (Aug. 2007).","DOI":"10.1109\/ICMA.2007.4303779"},{"key":"S0263574715000107_ref56","doi-asserted-by":"crossref","unstructured":"A. Sano and J. Furusho , \u201cRealization of Natural Dynamic Walking using the Angular Momentum Information,\u201d IEEE International Conference on Robotics and Automation, Cincinnati, OH, vol. 3, pp. 1476\u20131481 (May 1990).","DOI":"10.1109\/ROBOT.1990.126214"},{"key":"S0263574715000107_ref191","unstructured":"O. Bruneau and F. B. Ouezdou , \u201cCompliant Contact of Walking Robot Feet,\u201d Proceedings of the 3rd ECDP International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Bremen, Germany, pp. 1\u20137 (Sep. 1997)."},{"key":"S0263574715000107_ref139","doi-asserted-by":"crossref","first-page":"9","DOI":"10.1017\/S0263574707003542","article-title":"Disturbance rejection by online ZMP compensation","volume":"26","author":"Prahald","year":"2008","journal-title":"Robotica"},{"key":"S0263574715000107_ref82","doi-asserted-by":"crossref","unstructured":"H. Sugiura , M. Gienger , H. Janssen and C. Goerick , \u201cReal-Time Collision Avoidance with Whole Body Motion Control for Humanoid Robots,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, pp. 2053\u20132058 (Oct. 2007).","DOI":"10.1109\/IROS.2007.4399062"},{"key":"S0263574715000107_ref188","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.02.010"},{"key":"S0263574715000107_ref75","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004903"},{"key":"S0263574715000107_ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832833"},{"key":"S0263574715000107_ref122","volume-title":"Climbing and Walking Robots","author":"Arbulu","year":"2010"},{"key":"S0263574715000107_ref162","volume-title":"2nd International Workshop on Global Optimization and Constraint Satisfaction (COCOS)","author":"Lydoire","year":"2003"},{"key":"S0263574715000107_ref96","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1974.324294"},{"key":"S0263574715000107_ref39","first-page":"277","volume-title":"Humanoid Robots: Human-like Machines","author":"Hobbelen","year":"2007"},{"key":"S0263574715000107_ref190","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-017-0397-0"},{"key":"S0263574715000107_ref115","doi-asserted-by":"crossref","unstructured":"S. Kajita , M. Morisawa , K. Harada , K. Kaneko , F. Kanehiro , K. Fujiwara and H. Hirukawa , \u201cBiped Walking Pattern Generator Allowing Auxiliary ZMP Control,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 2993\u20132999 (Oct. 2006).","DOI":"10.1109\/IROS.2006.282233"},{"key":"S0263574715000107_ref71","doi-asserted-by":"crossref","unstructured":"S. Kajita and K. Tani , \u201cExperimental Study of Biped Dynamic Walking in the Linear Inverted Pendulum Mode,\u201d Proceedings of the IEEE Conference on Robotics and Automation, vol. 3, pp. 2885\u20132891 (1995).","DOI":"10.1109\/ROBOT.1995.525693"},{"key":"S0263574715000107_ref98","doi-asserted-by":"publisher","DOI":"10.1109\/70.149940"},{"key":"S0263574715000107_ref76","article-title":"Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface","volume":"1","author":"Takanishi","year":"1990","journal-title":"IEEE Int. Workshop Intell. Robot. Syst."},{"key":"S0263574715000107_ref11","unstructured":"H.-O. Lim , Y. Sugahara and A. Takanishi , \u201cDevelopment of a Biped Locomotor Applicable to Medical and Welfare Fields,\u201d Proceedings of the 2003 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, pp. 950\u2013955 (2003)."},{"key":"S0263574715000107_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/1077546311403180"},{"key":"S0263574715000107_ref124","volume-title":"Humnoid Robots","author":"Hong","year":"2009"},{"key":"S0263574715000107_ref3","volume-title":"Autonomous Robots: From Biological Inspiration to Implementation and Control","author":"Bekey","year":"2005"},{"key":"S0263574715000107_ref5","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , A. Hayashi , T. Sawato , Y. Yoshimura , T. Asano , K. Hattori , Y. Sugahara , H.-O. Lim and A. Takanishi , \u201cTerrain-Adaptive Control to Reduce Landing Impact Force for Human-Carrying Biped Robot,\u201d Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009), Singapore, pp. 174\u2013179 (Jul. 2009).","DOI":"10.1109\/AIM.2009.5230020"},{"key":"S0263574715000107_ref150","doi-asserted-by":"publisher","DOI":"10.1109\/70.843167"},{"key":"S0263574715000107_ref65","doi-asserted-by":"publisher","DOI":"10.7763\/IJMO.2013.V3.294"},{"key":"S0263574715000107_ref196","doi-asserted-by":"publisher","DOI":"10.1115\/1.2897738"},{"key":"S0263574715000107_ref51","doi-asserted-by":"crossref","unstructured":"T. Tsuji and K. Ohnishi , \u201cA Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point,\u201d Proceedings of Advanced Motion Control, 7th Int. Workshop, Maribor, Solvenia, pp. 478\u2013483 (2002).","DOI":"10.1109\/AMC.2002.1026967"},{"key":"S0263574715000107_ref6","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , T. Sawato , A. Hayashi , Y. Yoshimura , T. Asano , K. Hattori , Y. Sugahara , H.-O. Lim and A. Takanishi , \u201cStatic and Dynamic Disturbance Compensation Control for a Biped Walking Vehicle,\u201d Proceedings of the 2nd Biennial IEEE RAS\/EMBS International Conference on Biomedical Robotics and Biomechatronics, AZ, USA, pp. 457\u2013462 (Oct. 2008).","DOI":"10.1109\/BIOROB.2008.4762844"},{"key":"S0263574715000107_ref159","doi-asserted-by":"crossref","unstructured":"H. Diedam , D. Dimitrov , P.-B. Wieber , K. Mombaur and M. Diehl , \u201cOnline Walking Gait Generation with Adaptive Foot Positioning Through Linear Model Predictive Control,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Nice, France, pp. 1121\u20131126 (Sept. 2008).","DOI":"10.1109\/IROS.2008.4651055"},{"key":"S0263574715000107_ref132","doi-asserted-by":"publisher","DOI":"10.1109\/10.362914"},{"key":"S0263574715000107_ref46","doi-asserted-by":"crossref","unstructured":"K. Harada , S. Kajita , K. Kaneko and H. Hirukawa , \u201cPushing Manipulation by Humanoid Considering Two-kinds of ZMPs,\u201d Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, vol. 2, pp. 1627\u20131632 (Sept. 2003).","DOI":"10.1109\/ROBOT.2003.1241827"},{"key":"S0263574715000107_ref66","doi-asserted-by":"crossref","unstructured":"J. Rebula , I. Canas , J. Pratt and A. Goswami , \u201cLearning Capture Points for Humanoid Push Recovery,\u201d IEEE\/RAS International Conference on Humanoid Robots, Pittsburgh, PA, pp. 65\u201372 (Nov. 2007).","DOI":"10.1109\/ICHR.2007.4813850"},{"key":"S0263574715000107_ref52","doi-asserted-by":"crossref","unstructured":"N. Waki , K. Matsumoto and A. Kawamura , \u201cLateral Sway Motion Generation for Biped Robots using Virtual Supporting Point,\u201d The 11th IEEE Int. workshop on Advanced Motion Control, Nagaoka, Japan, pp. 124\u2013128 (Mar. 2010).","DOI":"10.1109\/AMC.2010.5464014"},{"key":"S0263574715000107_ref179","doi-asserted-by":"crossref","unstructured":"G. Bartolini , G. Casalino and M. Aicardi , \u201cLearning and variable structure techniques in the control of a mechanical byped,\u201d 28th IEEE Conference on Decision and Control, Tampa, FL, vol. 3, pp. 2621\u20132628 (Dec. 1989).","DOI":"10.1109\/CDC.1989.70654"},{"key":"S0263574715000107_ref202","doi-asserted-by":"crossref","unstructured":"H. Dallali , G. A. Medrano-Corda and M. Brown , \u201cA Comparison of Multivariable and Decentralized Control Strategies for Robust Humanoid Walking,\u201d UKACC International Conference on Control (Coventry, UK, Sept. 2010).","DOI":"10.1049\/ic.2010.0286"},{"key":"S0263574715000107_ref80","doi-asserted-by":"crossref","unstructured":"J. Kuffner , K. Nishiwaki , S. Kagami , Y. Kuniyoshi , M. Inaba and H. Inoue , \u201cSelf-Collision Detection and Prevention for Humanoid Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, vol. 3, pp. 2265\u20132270 (May 2002).","DOI":"10.1109\/ROBOT.2002.1013569"},{"key":"S0263574715000107_ref37","first-page":"22","article-title":"Postural equilibrium criteria concerning feet properties for biped robots","volume":"6","author":"Alba","year":"2012","journal-title":"J. Autom. Mobile Robot. Intell. Syst."},{"key":"S0263574715000107_ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.886254"},{"key":"S0263574715000107_ref22","unstructured":"J. Pratt , \u201cExploiting Inherent and Natural Dynamics in the Control of Bipedal Walking Robots,\u201d Ph.D. Dissertation, (Massachusetts Institute of Technology, USA, 2000)."},{"key":"S0263574715000107_ref103","doi-asserted-by":"crossref","unstructured":"M.-S. Kim , I. Kim , S. Park and J. H. Oh , \u201cRealization of Stretch-Legged Walking of the Humanoid Robot,\u201d 8th IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, pp. 118\u2013124 (Dec. 2008).","DOI":"10.1109\/ICHR.2008.4755941"},{"key":"S0263574715000107_ref94","first-page":"18","article-title":"A feasibility study of powered-limb prosthesis","volume":"183","author":"Witt","year":"1968","journal-title":"Proc. Inst. Mech. Eng."},{"key":"S0263574715000107_ref69","unstructured":"G. Bessonnet , S. Chesse and P. Sardain , \u201cGenerating Optimal Gait of a Human-Sized Biped Robot,\u201d 5th International Conference on Climbing Walking Robots, Paris, pp. 241\u2013253 (2002)."},{"key":"S0263574715000107_ref55","doi-asserted-by":"crossref","unstructured":"A. Goswami and V. Kallem , \u201cRate of Change of Angular Momentum and Balance Maintenance of Biped Robots,\u201d Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA, vol. 4, pp. 3785\u20133790 (2004).","DOI":"10.1109\/ROBOT.2004.1308858"},{"key":"S0263574715000107_ref118","doi-asserted-by":"crossref","unstructured":"P.-B. Wieber , \u201cTrajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations,\u201d 6th IEEE-RAS International Conference on Humanoid Robots, Genova, pp. 137\u2013142 (Dec. 2006).","DOI":"10.1109\/ICHR.2006.321375"},{"key":"S0263574715000107_ref30","first-page":"521","volume-title":"On the Stability of Bipedal Walking","author":"van Zutven","year":"2010"},{"key":"S0263574715000107_ref19","doi-asserted-by":"crossref","unstructured":"M. Raibert , S. Tzafestas and C. Tzafestas , \u201cComparative Simulation Study of three Control Techniques Applied to a Biped Robot,\u201d Proceedings of the International Conference on Systems, Man & Cybernetics System Engineering in the Service of Humans, Le Touquet, France, vol. 1, pp. 494\u2013502 (1993).","DOI":"10.1109\/ICSMC.1993.384792"},{"key":"S0263574715000107_ref145","unstructured":"M. Sobotka , D. Wollherr and M. Buss , \u201cA Jacobian Method for Online Modification of Precalculated Gait Trajectories,\u201d Proceedings of the 6th International Conference on Climbing and Walking Robots (CLAWAR 2003), Catania, Italy, pp. 435\u2013442 (2003)."},{"key":"S0263574715000107_ref17","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20045007"},{"key":"S0263574715000107_ref72","unstructured":"Z. Tang , C. Zhou and Z. Sun , \u201cTrajectory Planning for Smooth Transition of a Biped Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automations, vol. 2, pp. 2455\u20132460 (2003)."},{"key":"S0263574715000107_ref31","unstructured":"E. Nicholls , \u201cBipedal Dynamic Walking in Robotics,\u201d Honors Thesis, (The University of Western Australia Department of Electrical and Electronic Engineering, Australia, 1998)."},{"key":"S0263574715000107_ref57","doi-asserted-by":"crossref","unstructured":"A. Sano and J. Furusho , \u201cControl of Torque Distribution for the BLR-G2 Biped Robot,\u201d 5th International Conference on Advanced Robotics, Pisa, Italy, vol. 1, pp. 729\u2013734 (Jun. 1991).","DOI":"10.1109\/ICAR.1991.240686"},{"key":"S0263574715000107_ref54","first-page":"79","volume-title":"Mobile Robots towards New Applications","author":"Popovic","year":"2006"},{"key":"S0263574715000107_ref24","unstructured":"G. Ozyurt , \u201c3-D Humanoid Gait Simulation using an Optimal Predictive Control,\u201d MSc. Thesis, (Turkey: Middle East Technical University, 2005)."},{"key":"S0263574715000107_ref86","doi-asserted-by":"crossref","unstructured":"B. Faverjon and P. Tournassoud , \u201cA Local based Approach for Path Planning of Manipulators with a High Number of Degrees of Freedom,\u201d IEEE International Conference on Robotics and automation, Raleigh, NC, USA, vol. 4, pp. 1152\u20131159 (Mar. 1987).","DOI":"10.1109\/ROBOT.1987.1087982"},{"key":"S0263574715000107_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.904896"},{"key":"S0263574715000107_ref73","doi-asserted-by":"crossref","unstructured":"L. Wang , Z. Yu , F. He and Y. Jiao , \u201cResearch on Biped Robot Gait in Double-Support Phase,\u201d IEEE International Conference on Mechatronics and Automation, pp. 1553\u20131558 (2007).","DOI":"10.1109\/ICMA.2007.4303780"},{"key":"S0263574715000107_ref128","doi-asserted-by":"crossref","unstructured":"M. Morisawa , F. Kanehiro , K. Kaneko , N. Mansard , J. Sola , E. Yoshida , K. Yokoi and J.-P. Laumond , \u201cCombining Suppression of the Disturbance and Reactive Stepping for Recovering Balance,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, pp. 3150\u20133156 (2010).","DOI":"10.1109\/IROS.2010.5651595"},{"key":"S0263574715000107_ref1","volume-title":"Course Handouts, Instituto Superior T\u00e9cnico\/Instituto de Sistemas e Rob\u00f3tica","author":"Lima","year":"2002"},{"key":"S0263574715000107_ref84","unstructured":"A. Safonova N. Pollard and J. K. Hodgins , \u201cOptimizing Human Motion for the Control of a Humanoid Robot,\u201d 2nd International Symposium on Adaptive Motion and Animals and Machines (AMAM) (Mar. 2003)."},{"key":"S0263574715000107_ref70","doi-asserted-by":"publisher","DOI":"10.7763\/LNSE.2013.V1.52"},{"key":"S0263574715000107_ref88","doi-asserted-by":"crossref","unstructured":"A. Escande , S. Miossec and A. Kheddar , \u201cContinuous Gradient Proximity Distance for Humanoids Free-Collision Optimized-Postures,\u201d 7th IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, PA, pp. 188\u2013195 (2007).","DOI":"10.1109\/ICHR.2007.4813867"},{"key":"S0263574715000107_ref170","volume-title":"Control of Robot Manipulators in Joint Space","author":"Kelly","year":"2005"},{"key":"S0263574715000107_ref7","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , Y. Sugahara , C. Tanaka , A. Ohta , K. Hattori , T. Sawato , A. Hayashi , H.-O. Lim and A. Takanishi , \u201cUnknown Disturbance Compensation Control for a Biped Walking Vehicle,\u201d Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, pp. 2204\u20132209 (2007).","DOI":"10.1109\/IROS.2007.4399285"},{"key":"S0263574715000107_ref187","doi-asserted-by":"publisher","DOI":"10.1109\/9.746255"},{"key":"S0263574715000107_ref61","doi-asserted-by":"crossref","unstructured":"M. Popovic and H. Herr , \u201cGlobal Motion Control and Support base Planning,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Alberta, Canada, pp. 3877\u20133884 (2005).","DOI":"10.1109\/IROS.2005.1545560"},{"key":"S0263574715000107_ref197","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000399"},{"key":"S0263574715000107_ref107","doi-asserted-by":"crossref","unstructured":"A. Takanishi , M. Tochizawa , H. Karaki and I. Kato , \u201cDynamic Biped Walking Stabilized with Optimal Trunk and Waist Motion,\u201d IEEE\/RSJ International Workshop on Intelligent Robots and Systems, Tsukuba, Japan, pp. 187\u2013192 (Sept. 1989).","DOI":"10.1109\/IROS.1989.637905"},{"key":"S0263574715000107_ref193","doi-asserted-by":"crossref","unstructured":"T. Buschmann , S. Lohmeier , H. Ulbrich and F. Pfeiffer , \u201cDynamics Simulation for a Biped robot: Modeling and Experimental Verification,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'2006), Orlando, FL, pp. 2673\u20132678 (May 2006).","DOI":"10.1109\/ROBOT.2006.1642105"},{"key":"S0263574715000107_ref33","doi-asserted-by":"crossref","unstructured":"J. Pratt , J. Carff , S. Drakunov and A. Goswami , \u201cCapture Point: A Step Toward Humanoid Push Recovery,\u201d IEEE-RAS International Conference on Humanoid Robot, Genova, pp. 200\u2013207 (Dec. 2006).","DOI":"10.1109\/ICHR.2006.321385"},{"key":"S0263574715000107_ref102","first-page":"29","article-title":"A simple algorithm for generating stable biped walking patterns","volume":"101","author":"Al-Shuka","year":"2014","journal-title":"Int. J. Intell. Comput. Appl."},{"key":"S0263574715000107_ref207","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1969.4502596"},{"key":"S0263574715000107_ref189","doi-asserted-by":"crossref","unstructured":"C. Rengifo , Y. Aoustin , C. Chevallereau and F. Plestan , \u201cA Penalty-Based Approach for Contact Forces Computation in Bipedal Robots,\u201d 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France, pp. 121\u2013127 (2009).","DOI":"10.1109\/ICHR.2009.5379590"},{"key":"S0263574715000107_ref130","doi-asserted-by":"crossref","unstructured":"T. Komura , H. Leung , S. Kudoh and J. Kuffner , \u201cA Feedback Controller for Biped Humanoids that can Counteract Large Perturbations during Gait,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 1989\u20131995 (Apr. 2005).","DOI":"10.1109\/ROBOT.2005.1570405"},{"key":"S0263574715000107_ref113","doi-asserted-by":"crossref","unstructured":"S. Kajita , F. Kanehiro , K. Kaneko , K. Fujiwara , K. Harada , K. Yokoi and H. Hirukawa , \u201cBiped Walking Pattern Generation by using Preview Control of Zero-Moment Point,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, vol. 2, pp. 1620\u20131626 (Sept. 2003).","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"S0263574715000107_ref35","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90061-2"},{"key":"S0263574715000107_ref138","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-010-0220-x"},{"key":"S0263574715000107_ref154","doi-asserted-by":"crossref","unstructured":"S.-H. Hyon and G. Cheng , \u201cDisturbance Rejection for Biped Humanoids,\u201d IEEE International Conference on Robotics and Automation, Roma, Italy, pp. 2668\u20132675 (Apr. 2007).","DOI":"10.1109\/ROBOT.2007.363868"},{"key":"S0263574715000107_ref153","doi-asserted-by":"crossref","unstructured":"S.-H. Hyon , R. Osu and Y. Otaka , \u201cIntegration of Multi-Level Postural Balancing on Humanoid Robots,\u201d IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, pp. 1549\u20131556 (May 2009).","DOI":"10.1109\/ROBOT.2009.5152434"},{"key":"S0263574715000107_ref163","doi-asserted-by":"crossref","unstructured":"M. Parsa and M. Farrokhi , \u201cRobust Nonlinear Model Predictive Trajectory Free Control of Biped Robots based on Nonlinear Disturbance Observer,\u201d 18th Iranian Conference on Electrical Engineering (ICEE), Isfahan, Iran, pp. 617\u2013622 (May 2010).","DOI":"10.1109\/IRANIANCEE.2010.5506996"},{"key":"S0263574715000107_ref161","first-page":"315","volume-title":"Humanoid Robots: Human-like Motion, Book","author":"Yin","year":"2007"},{"key":"S0263574715000107_ref176","doi-asserted-by":"crossref","unstructured":"R. C. Luo , C.-W. Tzeng , P.-Z. Cheng and K.-W. Lee , \u201cTrajectory-Tracking of Nonlinear Biped Robot System based on Adaptive Fuzzy Sliding Mode Control,\u201d The 33rd Annual Conference of the IEEE on Industrial Electronics Society (IECON 2007), Tapei, Taiwan, pp. 2789\u20132794 (Nov. 2007).","DOI":"10.1109\/IECON.2007.4460381"},{"key":"S0263574715000107_ref146","doi-asserted-by":"crossref","unstructured":"D. Wollherr and M. Buss , \u201cPosture Modification for Biped Humanoid Robots based on Jacobian Method,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, vol. 1, pp. 124\u2013129 (Oct. 2004).","DOI":"10.1109\/IROS.2004.1389340"},{"key":"S0263574715000107_ref185","doi-asserted-by":"publisher","DOI":"10.1109\/70.976014"},{"key":"S0263574715000107_ref157","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-398-5"},{"key":"S0263574715000107_ref123","doi-asserted-by":"crossref","first-page":"917","DOI":"10.1109\/TRO.2008.926859","article-title":"Modifiable walking pattern of a humanoid robot by using allowable ZMP variation","volume":"24","author":"Lee","year":"2008","journal-title":"IEEE Trans. Robot."},{"key":"S0263574715000107_ref143","doi-asserted-by":"crossref","unstructured":"T. Takenaka , T. Matsumoto and T. Yoshiike , \u201cReal Time Motion Generation and Control for Biped Robot-3rd Report: Dynamics Error Compensation,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 1594\u20131600 (Oct. 2009).","DOI":"10.1109\/IROS.2009.5354542"},{"key":"S0263574715000107_ref199","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.900649"},{"key":"S0263574715000107_ref183","unstructured":"H.-O. Lim , S. A. Setiawan and A. Takanishi , \u201cBalance and Impedance Control for Biped Humanoid Robot Locomotion,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, vol. 1, pp. 494\u2013499 (2001)."},{"key":"S0263574715000107_ref204","unstructured":"E. Pennestri and P. P. Valentini , \u201cCoordinate Reduction Strategies in Multibody Dynamics: A review,\u201d Atti Conference on Multibody System Dynamics, (2007)."},{"key":"S0263574715000107_ref26","doi-asserted-by":"crossref","unstructured":"Q. Huang , S. Kajita , N. Koyachi , K. Kaneko , K. Yokoi , H. Arai , K. Komoriya and K. Tane , \u201cA High Stability, Smooth Walking Pattern for a Biped Robot,\u201d Proceedings of the 1999 IEEE International conference on Robotics and Automation, vol. 1, Detroit, MI, pp. 65\u201371 (May, 1999).","DOI":"10.1109\/ROBOT.1999.769932"},{"key":"S0263574715000107_ref180","unstructured":"J. Kho and D. Lim , \u201cA Learning Controller for Repetitive Gait Control of Biped Walking Robot,\u201d SICE 2004 Annual Conference, Sapporo, vol. 1, pp. 885\u2013889 (Aug. 2004)."},{"key":"S0263574715000107_ref81","doi-asserted-by":"publisher","DOI":"10.1145\/285857.285860"},{"key":"S0263574715000107_ref104","doi-asserted-by":"crossref","unstructured":"Y. Ogura , T. Kataoka , H. Aikawa , K. Shimomura , H.-O. Lim and A. Takanishi , \u201cEvaluation of Various Walking Patterns of Biped Humanoid Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 603\u2013608 (Apr. 2005).","DOI":"10.1109\/ROBOT.2005.1570184"},{"key":"S0263574715000107_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(02)00419-0"},{"key":"S0263574715000107_ref165","doi-asserted-by":"publisher","DOI":"10.1023\/A:1024172417914"},{"key":"S0263574715000107_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/70.938385"},{"key":"S0263574715000107_ref114","doi-asserted-by":"crossref","unstructured":"T. Takenaka , T. Matsumoto and T. Yoshiike , \u201cReal Time Motion Generation and Control for Biped Robot-1st Report: Walking Gait Pattern Generation,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 1084\u20131091 (Oct. 2009).","DOI":"10.1109\/IROS.2009.5354662"},{"key":"S0263574715000107_ref64","doi-asserted-by":"crossref","unstructured":"J. Pratt and G. Pratt , \u201cIntuitive Control of a Planar Bipedal Walking Robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), vol. 3, pp. 2014\u20132021 (1998).","DOI":"10.1109\/ROBOT.1998.680611"},{"key":"S0263574715000107_ref167","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_20"},{"key":"S0263574715000107_ref108","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.06.001"},{"key":"S0263574715000107_ref144","doi-asserted-by":"crossref","unstructured":"T. Takenaka , T. Matsumoto , T. Yoshiike , T. Hasegawa , S. Shirokura , H. Kaneko and A. Orita , \u201cReal Time Motion Generation and Control for Biped Robot-4th Report: Integrated balance Control-,\u201d IEEE\/RSJ International Conference on Intelligent robots and Systems, St. Louis, USA, pp. 1601\u20131608 (Oct. 2009).","DOI":"10.1109\/IROS.2009.5354522"},{"key":"S0263574715000107_ref78","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X292538"},{"key":"S0263574715000107_ref200","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(94)00185-7"},{"key":"S0263574715000107_ref134","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(99)00032-6"},{"key":"S0263574715000107_ref205","doi-asserted-by":"publisher","DOI":"10.1017\/S026357479700057X"},{"key":"S0263574715000107_ref91","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149608"},{"key":"S0263574715000107_ref184","unstructured":"J. H. Park and H. Chung , \u201cImpedance Control and Modulation for Stable Footing in Locomotion of Biped Robots,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS'99), Kyongju, vol. 3, pp. 1786\u20131791 (1999)."},{"key":"S0263574715000107_ref63","doi-asserted-by":"crossref","unstructured":"N. E. Sian , K. Yokoi , S. Kajita , F. Kanchiro and K. Tanie , \u201cWhole Body Teleoperation of a Humanoid Robot-A Method of Integrating Operator's Intention and Robot's Autonomy-,\u201d Proceedings of the 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, vol. 2, pp. 1613\u20131619 (Sept. 2003).","DOI":"10.1109\/ROBOT.2003.1241825"},{"key":"S0263574715000107_ref126","doi-asserted-by":"crossref","unstructured":"M. Morisawa , K. Harada , S. Kajita , K. Kaneko , F. Kanehiro , K. Fujiwara , S. Nakaoka and H. Hirukawa , \u201cA Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-Time,\u201d 6th IEEE-RAS International Conference on Humanoid Robots, Genova, pp. 581\u2013586 (2006).","DOI":"10.1109\/ICHR.2006.321332"},{"key":"S0263574715000107_ref89","doi-asserted-by":"crossref","unstructured":"S. Nakaoka , A. Nakazawa , F. Kanehiro , K. Kaneko , M. Morisawa and K. Ikeuchi , \u201cTask Model of Lower Body Motion for a Biped Humanoid Robot to Imitate Human Dances,\u201d IEEE\/RSJ International Conference on Intelligent Robots and Systems, Canada, pp. 3157\u20133162 (Aug. 2005).","DOI":"10.1109\/IROS.2005.1545395"},{"key":"S0263574715000107_ref201","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2008.06.001"},{"key":"S0263574715000107_ref166","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714000332"},{"key":"S0263574715000107_ref44","first-page":"321","volume-title":"Humanoid Robots, New Developments","author":"Huang","year":"2007"},{"key":"S0263574715000107_ref87","doi-asserted-by":"crossref","unstructured":"F. Kanehiro , Lamiraux O. Kanoun, E. Yoshida and J.-P. Laumond , \u201cA local Collision Avoidance Method for Non-Strictly Convex Polyhedra,\u201d Proceedings of: Science and Systems, pp. 151\u2013158 (2009).","DOI":"10.15607\/RSS.2008.IV.020"},{"key":"S0263574715000107_ref38","doi-asserted-by":"crossref","first-page":"490","DOI":"10.1115\/1.1590356","article-title":"Experimental\/analytical analysis of human locomotion using bondgraphs","volume":"125","author":"Pop","year":"2003","journal-title":"J. Biomech. Eng."},{"key":"S0263574715000107_ref111","unstructured":"Napoleon S. Nakaura, M. Sampei , \u201cBalance Control Analysis of Humanoid Robot Based on ZMP Feedback Control,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 2437\u20132442 (2002)."},{"key":"S0263574715000107_ref100","doi-asserted-by":"crossref","unstructured":"M. Shibuya , T. Suzuki and K. Ohnishi , \u201cTrajectory Planning of Biped Robot using Linear Pendulum mode for Double Support Phase,\u201d Proceedings of the IECON 2006\u201332nd Annual Conference on IEEE Industrial Electronics, Paris, pp. 4094\u20134099 (2006).","DOI":"10.1109\/IECON.2006.348126"},{"key":"S0263574715000107_ref151","doi-asserted-by":"crossref","unstructured":"P. M. Silva and J. A. T. Machado , \u201cTowards Force Interaction Control of Biped Walking Robots,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan, vol. 3, pp. 2568\u20132573 (Oct. 2004).","DOI":"10.1109\/IROS.2004.1389795"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000107","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T23:26:51Z","timestamp":1747697211000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000107\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,2,24]]},"references-count":208,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2016,11]]}},"alternative-id":["S0263574715000107"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000107","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,2,24]]}}}