The Control Challenges of Humanoid Locomotion

It has been a few decades that researchers have worked on the bipedal walking problem of humanoid robots, yet outside the lab, to achieve a balancing performance comparable to humans is still challenging for all legged machines. My talk will briefly overview the state of the art of humanoid balancing control, followed by the challenges in real world scenarios. Then, I will show some key outcomes of my research journey on the dynamic balance of legged locomotion (bipeds & quadrupeds). I will close the talk by rethinking  an open discussion “what is new under the sun” as an evaluation of the humanoid control technologies.