Bipedal Robot

A robot that walks on two legs, like a human. Bipedal robots face the challenging balance problem of maintaining stability on a small support polygon. Control approaches include ZMP (Zero Moment Point), capture point, and RL-based whole-body control. Examples: Atlas (Boston Dynamics), Digit (Agility), ARTEMIS, Unitree H1. Bipedal locomotion enables navigation in human-built environments.