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November 30, 2025International Journal of Humanoid Robotics

Biped Walking Stability Based on Step Timing and Location Adjustments Using Analytical Method

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Authors

GLGuoshuai LiuZLZhiguo LuHZHang Zhang

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Overview

Proposed method maintains walking stability in biped robots through step timing adjustments, suggesting improved performance verified numerically.

Key Points

  • Maintaining stable walking is essential for biped robots in unpredictable environments.
  • The biped robots can recover normal gait after disturbances, enhancing stability.
  • Numerical verification using the Linear Inverted Pendulum model supports the proposed method's effectiveness.
  • Real-time updates to the swing foot trajectory ensure dynamic adaptation to adjusted gait parameters.

Cite This Study

Liu et al. (2025) studied this question.

synapsesocial.com/papers/692b94581d383f2b2a379087https://doi.org/10.1142/s0219843625500136
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