Bipedal Locomotion

Bipedal locomotion research aims to enable robots to walk stably and efficiently, mimicking human gait. Current efforts focus on developing robust control frameworks, often integrating model predictive control (MPC) with reinforcement learning (RL) or leveraging geometric and dynamic models like the Linear Inverted Pendulum (LIP) and Hybrid Zero Dynamics (HZD). These advancements are crucial for creating robots capable of navigating complex and unpredictable terrains, with applications ranging from search and rescue to assistive technologies and human-robot interaction. The field is also exploring the use of formal methods like signal temporal logic (STL) to guarantee safety and robustness in challenging environments.