From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps

Humans are able to negotiate downstep behaviors-both planned and unplanned-with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if the morphology is inherently different. Concretely, we begin with human data wherein planned and unplanned...