Bipedal

Bipedal locomotion gives humanoid robots access to the world we built: stairs, curbs, doorways, uneven flooring. But walking on two legs is one of the hardest problems in robotics.

Staying upright demands real-time coordination of balance, force, and motion across dozens of joints. Most systems start with model-based control — like Zero Moment Point (ZMP) or Capture Point strategies — to prevent tipping. But natural motion requires anticipatory dynamics, whole-body coordination, and responses that can adapt to changing terrain or sudden disturbances.Unlike wheeled robots, bipedal systems must continually fall and catch themselves. Walking, as it turns out, is just controlled instability.