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IEEE Transactions on Robotics · 2025

Time-varying foot placement control for humanoid walking on swaying rigid surface

Published in IEEE Transactions on Robotics, 2025

2025
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Time-varying foot placement control for humanoid walking on swaying rigid surface
Publication
IEEE Transactions on Robotics, vol. 41, pp. 5740–5760, 2025
Type
Journal article
DOI
10.1109/TRO.2025.3612326

Abstract

This study extends an angular-momentum-based pendulum model to periodically swaying ground and derives a time-varying foot-placement controller with sufficient stability conditions. A hierarchical framework connects the planner to robot control. Digit simulation and hardware experiments evaluate walking under surface motion, uncertain motion estimates, and external pushes. The guarantees apply under the models and conditions stated in the paper.

The page date records the first arXiv deposit. The journal publication year is 2025; the publisher record does not specify a month or day.

dynamic rigid surface template model foot placement
Victor Paredes
Victor Paredes
Ph.D. in Mechanical Engineering

I am a robotics engineer at UCR. My research endeavors are centered upon humanoids and exoskeleton devices.

Ayonga Hereid
Ayonga Hereid
Associate Professor of Mechanical and Aerospace Engineering

My research aims to develop computational and theoretical tools to mitigate the high dimensionality and nonlinearity present in robot control and motion planning problems.