Inspec keywords: mechanical stability; legged locomotion; robot dynamics; poles and zeros; humanoid robots; robot kinematics; optimal control; predictive control

Other keywords: humanoid robot; TPinokio robot; optimal walking gait generation methods; optimal control; multiple point-mass system; stability; toe-feet bipedal; augmented model predictive control method; gait trajectory; walking speed; pole-zero cancellation method; zero-moment-point concept; single mass inverted pendulum model; mechanical design; double mass inverted pendulum model

Subjects: Optimal control; Buckling and instability (mechanical engineering); Robot and manipulator mechanics; Control system analysis and synthesis methods; Mobile robots; Stability in control theory