Abstract:
In the last decades we have seen a rapid growth in use of
Humanoid Robotics, which leads to an autonomous research
field. Humanoid robots are used in all situations of human’s
everyday life, cooperating with us. They will work in services,
in homes and hospitals, and they are even expected to get
involved in sports. Hence, they will have to be capable of
doing a diversity of tasks [1]. Another important fact about
today's and especially tomorrow’s humanoid robots resembles
human-like in their shape and behavior. A number of
applications in diverse fields are continuously increasing:
replacement of humans in hazardous works such as rescue
operations, military operations, disaster scenarios, or
restoration movement in people with disabilities. By taking
advantages of the strategic footholds in the terrain, legs
increase traction and decrease energy consumption.
