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A Review of Bipedal Walking Robots: History, Design, and Control           

Approaches 

Mehak Singal1, Vijayluxmi2 

1Research Scholar, Department of Computer Science and Engineering, RPIIT, Bastara, Haryana, India  
2Assistant Professor, Department of Electronics & Communication Engineering, RPIIT, Bastara, Haryana, India 

Corresponding authors, email address: mehak@rpiit.com, vijayluxmimeena@gmail.com 

 

Article History: 

Received: 06-07-2025 

Revised: 15-08-2025 

Accepted: 30-09-2025 

Abstract: The development of bipedal robots has been a significant 

milestone in the field of robotics, aiming to replicate human-like 

walking, balance, and mobility. This research paper presents a 

comprehensive study of the evolution of bipedal robots from their 

inception to the latest advancements. It analyzes various robots based 

on parameters such as speed, height, weight, degrees of freedom, year 

of invention, country of origin, and the organizations involved. Early 

pioneering robots, such as WABOT-1 (1973, Japan, Waseda 

University), laid the foundation for humanoid robotics, achieving basic 

walking capabilities. Subsequent innovations introduced highly 

advanced robots like ASIMO (2000, Japan, Honda), Atlas (2013, USA, 

Boston Dynamics), and Cassie (2017, USA, Oregon State University), 

which demonstrated significant improvements in balance, adaptability, 

and dynamic locomotion. The study highlights how technological 

advancements in actuators, sensors, artificial intelligence, and control 

systems have enhanced robot performance, resulting in faster speeds, 

improved stability, and greater autonomy. Additionally, the paper 

discusses the global contributions of leading organizations from Japan, 

USA, China, Korea, and Europe in shaping modern bipedal robotics. 

This research provides insights into the challenges faced, the 

breakthroughs achieved, and the future potential of bipedal robots in 

areas such as healthcare, disaster response, space exploration, and 

personal assistance.  

Keywords: Bipedal Robots, Humanoid Robotics, Degrees of Freedom, 

Robot Evolution, Walking Mechanism, Human-Robot Interaction.  

 

1. Introduction 

 Bipedal walking refers to locomotion using two legs, closely resembling human gait and 

posture. Since the world we live in is designed around human mobility, robots with bipedal 

structures are better equipped to navigate staircases, narrow pathways, and uneven terrain, 

making them highly suitable for civilian, industrial, and healthcare applications [1]. 

Developing such robots, however, presents complex challenges that span mechanics, control 

mailto:mehak@rpiit.com
mailto:vijayluxmimeena@gmail.com


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theory, electronics, artificial intelligence, and human biomechanics, making the field inherently 

interdisciplinary [2]. Although quadrupedal robots can offer greater stability, bipedal robots 

provide distinct advantages in tasks that require human-like mobility and interaction. This is 

especially important in caregiving, elderly assistance, and other contexts where familiarity 

improves acceptance [1]. Beyond practical use, bipedal robots also serve as valuable research 

platforms for advancing locomotion science, balance control, and human–robot interaction. 

Building on these motivations, this paper reviews the historical development of bipedal robots, 

highlighting the key milestones and contributions that have shaped progress in the field. 

2. Journey of Bipedal Robot Innovations 

The concept of walking machines dates back to ancient times. Homer’s Iliad describes an early 

mechanical device and in 231 CE, a wooden walking contraption called Mu Niu Liu Ma was 

designed in China. Modern research on humanoid robots began in the early 1960s, initially 

focusing on artificial hands and arms to support human labor [2]. The first true bipedal robots 

appeared in the late 1960s. One notable example is Rig, developed in 1968 by Smo-Sher at 

General Motors, which marked the beginning of systematic bipedal locomotion research. 

Around the same time, Vukobratović from Yugoslavia proposed the Zero Moment Point (ZMP) 

stability criterion between 1968 and 1969. This became a foundational concept for bipedal 

robot control and stimulated research efforts worldwide [3]. In Japan, Professor Ichiro Kato of 

Waseda University began developing bipedal robots in 1968. He launched the WAP series from 

1969 to 1972, progressively emulating human walking [4]. In 1970, he initiated the WABOT 

project, under which several humanoid robots were developed, including WABOT-1, the first 

full-scale anthropomorphic robot, and WABOT-2, which performed tasks requiring dexterity 

and intelligence [5]. In 1984, the WL-10RD achieved the world’s first complete dynamic 

walking using preset walking patterns, completing a step in just 1.3 seconds [6]. Between 1969 

and 1984, Kato’s lab produced over ten bipedal robots [3].  

In 1986, Honda released the E series of experimental bipedal robots, starting with E0, which 

could walk slowly in a straight line by placing one leg before the other while keeping its center 

of gravity over the feet. Movements were rigid and limited to straight lines [7]. In the 

subsequent E1–E3 models (1987–1991), Honda aimed to achieve dynamic walking by studying 

and programming human walking patterns, but these robots still lacked robust stabilization, 

making smooth and practical locomotion difficult [8]. Between 1992 and 1993, Zheng et al. 

applied neural networks to the SD series robots, which allowed them to achieve more stable 

dynamic walking. This marked the earliest use of intelligent algorithms in gait planning. This 

work paved the way for later learning and model-based strategies, such as Virtual Model 

Control (Pratt & Pratt, 1997), which further simplified bipedal locomotion control [3]. Building 

on these advances, Honda introduced the P series (1993–1997), culminating in P2 (1996), the 

first humanoid robot capable of fully independent walking. This series laid the foundation for 

ASIMO, which integrated human-inspired mechanisms to achieve independent walking and 

stair climbing, marking a milestone in practical humanoid robotics [8]. In Japan, other 

companies also entered humanoid development. Sony launched the SDR (Sony Dream Robot) 

project in 1997, which later evolved into QRIO. The enhanced QRIO, announced in 2003, 

featured advanced motion control for walking, jumping, and running, surpassing standard 

ZMP-based control. It was recognized by Guinness World Records in 2005 as the world’s first 

running humanoid robot [9].  

Humanoid robotics expanded globally in the early 2000s. In 2004, Aldebaran Robotics (now 

SoftBank Robotics) began developing the NAO robot as an accessible platform for human–



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robot interaction [10]. NAO is a small humanoid robot equipped with sensors for walking, 

dancing, speaking, and recognizing faces and objects. Now in its sixth generation, released in 

2016, it is widely used in research, education, and healthcare [11]. In the US, Boston Dynamics 

began developing humanoid robots in 2008, starting with PETMAN and evolving into Atlas, 

capable of human-speed walking, climbing, and navigating rough terrain [12]. The hydraulic 

Atlas (Atlas HD) demonstrated advanced mobility and agility through whole-body skills such 

as dynamic balancing, running, jumping, and object manipulation [13]. Similarly, the 

University of Tehran in Iran developed the Surena humanoid series, from Surena I (2008) to 

Surena IV (2019), progressively enhancing walking, balance, and manipulation capabilities 

[14]. In China, the Beijing Institute of Technology introduced BHR-5, an adult-size humanoid 

capable of walking, climbing stairs, and grasping objects, while performing agile tasks such as 

playing table tennis against a human using a high-speed vision system [15]. Collectively, these 

developments illustrate the worldwide evolution of humanoid robotics toward assisting humans 

in daily life, research, and education. 

In nature, bipedal locomotion is observed in dinosaurs, birds, and even some insects, providing 

insights into speed, gait, and energy efficiency. Birds, as evolutionary successors of dinosaurs, 

employ bent knees and horizontal femurs that allow economical walking and adaptive terrain 

handling. Studies show that avian locomotion can surpass humanoid models in efficiency, 

making it an important inspiration for the development of bipedal robots [16].  In 2016, Cassie, 

developed under the direction of Oregon State professor Jonathan Hurst, features ostrich-like 

knees and can operate without cameras or external sensors, demonstrating blind yet dynamic 

locomotion on complex terrain [17]. While its successor Digit made in 2019 extended this non-

human inspired walking design by adding a sensor-rich torso and arms for balance and 

manipulation, making it useful in logistics and research [18]. Alexander conducted a 

comparative analysis of locomotion patterns across various animal groups, including reptiles, 

birds, and mammals [16]. His findings indicate that mammals exhibit similar gait behaviors 

when evaluated using the Froude number, a dimensionless parameter defined as: 

F = u² / (g·h) ……………….(1)  

where u represents the animal's velocity, g is the gravitational acceleration, and h corresponds 

to the hip height. 

Advancements in control systems combined with innovative actuation designs have enabled 

robots such as Cassie and Digit to rapidly achieve performance levels comparable to leading 

humanoid platforms [16]. 

These advancements have positioned humanoid robots at the center of practical applications, 

where they are being increasingly utilized to engage and cooperate more naturally with humans 

and their surroundings. The rising need for adaptable robotic systems has driven the emergence 

of commercially available, general-purpose humanoid robots designed with collaborative 

functionalities [19]. Earlier efforts such as Honda’s ASIMO laid important groundwork by 

demonstrating advanced locomotion and natural human interaction. However, ASIMO was 

never deployed in real-world manufacturing or service environments, and the project was 

discontinued in 2018 due to challenges in justifying a profitable business case [20]. This 

reflects a persistent challenge in humanoid robotics, which is turning research prototypes into 

solutions that are both technically capable and commercially viable. Another notable example 

is NASA’s Valkyrie, the agency’s first bipedal humanoid robot built on nearly two decades of 



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prior research. It is designed for disaster response and to support future space exploration 

missions. [21]. In 2021, Tesla’s Optimus was designed to perform dangerous, repetitive, and 

monotonous tasks. The prototype features improved dexterity through human-like hands, 

enhanced mobility, and integration with Tesla’s proprietary artificial intelligence tools 

including self-driving computer systems, neural network planning, and object recognition 

capabilities. These developments position Optimus as a potential solution for both industrial 

and domestic environments [20]. Similarly, Figure AI is developing a general-purpose 

humanoid robot intended to address labor shortages, capable of performing end-to-end 

operations in industries and household tasks such as doing dishes and laundry [22]. Together, 

these efforts reflect a growing emphasis on developing versatile, human-compatible robots that 

can operate reliably in real-world environments across both terrestrial and extraterrestrial 

settings. 

Table 1: Detailed description of the history of bipedal robots 

Reference 

No. 

Year Country Organization Robot Walking 

Speed 

(km/h) 

Weight 

 (kg) 

Height 

 (cm) 

DO

F 

[23] 
 

2000 Japan Honda ASIM

O 

1.6 43 120 26 

[19, 24]  2000 Japan Sony SDR-

3X 

0.9 

 

  

5 

 

  

50 24 

 

  
[19] 2000 Japan University of 

Tokyo 

H7 1.8 58 147 30 

[28] 2000 Japan University of 

Tokyo 

H6 N/A 55 137 35 

[25] 2001 Japan Kawada 

Industries 

Isamu 5 55 146.8 35 

[19] 2002 Japan Kawada 

Industries, 

AIST 

HRP-

2 

1.98 58 154 30 

[26] 2002 

  

China Beijing 

Institute of 

Technology 

BHR-

1 

2 76 158 28 

[27] 2002 South 

Korea 

KAIST KHR-

1 

N/A 48 119.3 21 

[19] 2003 Japan Sony  QRIO 1.18  7 58 28 



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[27] 2003 South 

Korea 

KAIST KHR-

2 

1 56 120 41 

[19] 2003 Germany Technical 

University of 

Munich 

Johnni

e 

2.2 40 180 17 

[27] 2004 South 

Korea 

KAIST HUB

O 

1.25 55 125 41 

[26] 2005 China Beijing 

Institute of 

Technology 

BHR-

2 

N/A 63 160 32 

[27] 2005 South 

Korea 

KAIST Albert 

HUB

O 

1.25 57 125 66 

[29] 2005 South 

Korea 

Korea Institute 

of Science and 

Technology 

Mahru 0.9 67 150 35 

[19] 2005 Japan Honda ASIM

O 

2.98 54 130 34 

[30] 2007 South 

Korea 

Korea Institute 

of Science and 

Technology, 

Samsung 

Electronics 

Mahru 

III 

1.3 62 150 32 

[31] 2008 France Aldebaran 

Robotics 

NAO 0.3 4.5 57 25 

[32] 2008 Iran University of 

Tehran 

Suren

a I 

N/A 60 165 8 

[33] 2008 Russia Android 

Technics 

AR-

600 

N/A 56 147.5 36 

[34] 2009 The 

Netherlan

ds 

Eindhoven 

University of 

Technology 

TUlip 1.44 25 125 N/A 

[27] 2009 South 

Korea 

KAIST HUB

O 2 

1.5 45 125 40 

[35] 2009 USA Boston 

Dynamics 

PETM

AN 

6.44 79.4 177.8 29 



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[26] 2009 China Beijing 

Institute of 

Technology 

BHR-

4 

N/A 65 170 46 

[36] 2010 German Technical 

University of 

Munich 

LOLA 

  

3.34 60 180 25 

[37, 38] 2010 Japan AIST HRP-

4C 

1.8 43 158 42 

[32, 39] 2010 Iran University of 

Tehran 

Suren

a II 

0.10 45 [] 145 22 

[40] 2011 France Softbank 

Robotics 

NAO 

4 

0.6 5.2 58 25 

[41] 2011 Japan Honda ASIM

O 

N/A 48 130 57 

[42] 2011 China Beijing 

Institute of 

Technology 

BHR-

5 

2 65 165 30 

[43] 2013 Germany Institute of 

Robotics and 

Mechatronics 

TOR

O 

1.8 76 174 39 

[44] 2013 Spain PAL Robotics REE

M-C 

2.5 80 165 68 

[45] 2013 USA Boston 

Dynamics 

Atlas N/A 150 188 28 

[46] 2014 Japan Kawada 

Industries 

HRP-

4 

1.57 39 151.4 34 

[20] 2014 USA NASA JSC Valky

rie 

(R5) 

1.8 125 180 44 

[47] 2014 France Aldebaran 

Robotics 

NAO 

V5 

N/A 5.4 57.4 25 

[32, 48, 

49] 

2015 Iran University of 

Tehran 

Suren

a III 

0.72 98 198 31 



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[50] 2016 USA Boston 

Dynamics 

Atlas 

HD 

5.4 80 150 28 

[51] 2016 USA Agility 

Robotics, 

Oregon State 

University 

Cassie 5 31 115 20 

[52, 53] 2017 Spain PAL Robotics TALO

S 

3 95 175 32 

[54] 2017 China Beijing 

Institute of 

Technology 

BHR-

6 

N/A 50 165 23 

[55] 2018 France Softbank 

Robotics 

NAO 

V6 

N/A 5.48 57.4 25 

[56] 2018 USA UT Austin, 

Meka 

Robotics, 

Apptronik 

Mercu

ry 

4 22 150 6 

[57] 2019 USA Agility 

Robotics 

Digit 5.4 65 175 28 

[48] 2019 Iran University of 

Tehran 

Suren

a IV 

0.7 68 170 43 

[58] 2020 Norway IX 

Technologies 

Eve 14.4 83 183 25 

[59, 60] 2022 China Xiaomi Cyber

One 

3.6 52 177 21 

[20] 2022 USA Tesla Optim

us 

8 57 173 40 

[61] 2023 USA UCLA Artem

is 

7.56 37 142 20 

[62] 2023 USA Figure Figure 

01 

4.3 60 168 40+ 

[63] 2023 China AgiBot RAIS

E A1 

7 55 175 49+ 

[64]  2023 Canada Sanctuary AI Phoen

ix 

4.82 70 170 44 



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[65] 2024 Iran University of 

Tehran 

Suren

a V 

N/A 73 163 41 

[66] 2024 USA Boston 

Dynamics 

Atlas 2.5 89 150 28 

[67] 2024 USA Figure AI, Inc. Figure 

02 

4.32 70 168 16 

[68] 2024 Germany Neura 

Robotics 

4NE-1 4 80 180 25 

[69] 2024 China LimX 

Dynamics 

Tron 1 < 3.6 20 84.5 N/A 

[70] 2025 USA CMU Zippy 0.89 25 g 3.6 N/A 

[71] 2025 China Unitree 

Robotics 

UniTr

ee R1 

2.5 25 121 26 

[72] 2025 China CASBOT CASB

OT 01 

N/A 60 179 52 

[73] 2025 China UBTECH Walker 

C 

6 43 163 20 

 

 

 

Figure 1. The historical development of bipedal robots. (a) ASIMO (2000) [74]; (b) QRIO 

[75]; (c) HUBO [76]; (d) NAO (2008) [31]; (e) Atlas HD (2016) [50]; (f) Cassie (2016) [51]; 

(g) Digit (2019) [57]; (h) ATLAS (2024) [77]. 



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3. Methodologies for Bipedal Locomotion 

Bipedal robots are often structurally unstable due to passive joints at points of unilateral 

contact. These robots typically have multiple degrees of freedom, which adds to their 

mechanical and control complexity [3]. To address this, researchers adopt simplified models 

to balance system simplicity with the need for dexterous movement. The development of 

bipedal robots capable of operating in unknown environments with a high degree of autonomy 

requires knowledge from various disciplines, including advanced mechanics, control theory, 

electronics, artificial intelligence, and human anatomy. As a result, the research in this area is 

truly interdisciplinary [2].  

3.1 Actuation Systems  

Actuators are responsible for generating the forces and torques required for bipedal locomotion. 

The most commonly employed systems include electric motors, hydraulic drives, pneumatic 

actuators, and series elastic actuators (SEA). Electric motors, particularly brushless DC and 

servo motors, are widely used due to their precision and ease of control, though they are limited 

by the energy density of batteries. Hydraulic systems, used in robots such as PETMAN and 

Atlas, provide high power density and smooth force generation but add weight, noise, and 

require bulky pumps. Pneumatic actuators offer low weight and fast response times but suffer 

from reduced precision due to the compressibility of air. SEAs introduce mechanical 

compliance, improving safety in human–robot interaction and enhancing energy efficiency by 

storing and releasing elastic energy. 

The choice of actuation is closely linked to the energy source. Most bipedal robots rely on 

rechargeable batteries, particularly lithium-ion variants, which provide high energy density and 

low self-discharge but have limited operating times compared to combustion fuels. Larger 

platforms often employ hybrid solutions, such as hydraulic pumps powered by internal 

combustion engines or fuel cells, to extend range and performance. Current trends emphasize 

lightweight, energy-efficient actuators, compliant designs inspired by human musculature, and 

energy-recovery mechanisms to improve locomotion efficiency and reduce overall power 

consumption [79]. 

3.2 Balance and Stability 

Balance and stability are paramount in bipedal locomotion. A robot that cannot maintain its 

balance will fall, rendering it ineffective. The center of gravity (CoG) plays a critical role; it 

must be kept within the support polygon (the area bounded by the feet) to maintain stability. 

Advanced control systems are used to adjust the robot's posture and movement in real-time to 

maintain balance. To further improve balance, especially under external disturbances or when 

walking on uneven terrain, researchers have developed stability control mechanisms inspired 

by human sensory reflexes. These include the Zero Moment Point (ZMP) reflex, the landing-

phase reflex, and the body-posture reflex. Each of these reflexes operates independently, 

activating under specific conditions to restore or maintain equilibrium. These mechanisms 

mimic how humans instinctively adjust their limbs to prevent falling when pushed or 

destabilized. To maintain the robot’s movements, mainly these 2 walking methods are used. 

This movement called bipedal locomotion is guided by two main theories.The widely used 

Zero Moment Point (ZMP) theory, employed by Honda’s ASIMO (2000), allows walking, 

running (up to 6 km/h), and stair climbing. The other theory, known as Passive Dynamic 

Walking, is energy-efficient with simple control and enables downhill walking without 

actuators but requires round feet, which causes instability when standing and dependence on 



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external forces to start or stop walking. Despite progress, challenges remain in achieving 

human-like motion and behavior in humanoid robots [78].  In addition, trajectory optimization 

plays a central role in ensuring stability and reducing energy consumption during long-distance 

walking, with several approaches combining learning-based methods, terrain adaptability, and 

optimal energy use [79]. 

3.3 Control Systems 

One of the key challenges in biped locomotion is generating an optimal trajectory that ensures 

stability while avoiding obstacles. In practice, multiple algorithms are often combined to 

achieve effective locomotion patterns. Control systems serve as the “brain” of bipedal robots, 

integrating sensor feedback to regulate movement and maintain balance. A typical feedback 

control loop consists of three stages: state estimation from sensor data, control computation to 

determine the required inputs, and actuation to apply these inputs to the robot’s actuators [80]. 

Traditionally, most control systems for bipedal robots have been based on predefined 

trajectories. Methods for online ZMP compensation are commonly based on preview control, 

model predictive control, or artificial intelligence, providing flexibility in adapting locomotion 

strategies to varying terrains and disturbances. In contrast, modern AI-based systems can 

generate stable walking patterns without explicit physical modelling, though different 

strategies exist for gait stabilization [79]. 

4. Conclusion 

The development of bipedal robots has progressed from simple walking prototypes to advanced 

humanoid systems. Foundational concepts such as the Zero Moment Point theory established 

the basis for stable locomotion. Robots, such as ASIMO, Atlas, and Cassie have advanced 

agility, adaptability, and efficiency. Despite these achievements, limitations remain in energy 

efficiency, robustness, and the realization of human-like gait. Addressing these challenges 

requires continued innovation in actuation, control algorithms, and learning-based approaches 

Future work should emphasize translating research into practical deployment. Applications in 

healthcare, logistics, disaster response, and space exploration highlight the need for reliable, 

adaptable, and commercially viable bipedal robots. Continued integration of artificial 

intelligence, biomechanics, and energy-efficient design, supported by interdisciplinary 

collaboration, will guide the next phase of progress in this field. 

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[26]https://www.researchgate.net/publication/331870015_Historical_Developments_of_BH

R_Humanoid_Robots 

[27] https://www.jstage.jst.go.jp/article/jrsj/30/4/30_30_367/_pdf 

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https://global.honda/en/ASIMO/history/?utm_source=chatgpt.com
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https://www.cs.columbia.edu/~allen/S19/SonyQRIO.pdf
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https://pubmed.ncbi.nlm.nih.gov/40200512/
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https://link.springer.com/rwe/10.1007/978-94-007-7194-9_15-1
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https://robotsguide.com/robots/surena/
https://robotsguide.com/robots/bhr
https://robotsguide.com/robots/bhr
https://www.mdpi.com/1424-8220/22/12/4440#:~:text=Modernbipedal%20robots%20are%20also%20based%20on%20the%20locomotion,bird%29%20as%20well%20as%20on%20innovative%20synthetic%20solutions
https://www.mdpi.com/1424-8220/22/12/4440#:~:text=Modernbipedal%20robots%20are%20also%20based%20on%20the%20locomotion,bird%29%20as%20well%20as%20on%20innovative%20synthetic%20solutions
https://www.mdpi.com/1424-8220/22/12/4440#:~:text=Modernbipedal%20robots%20are%20also%20based%20on%20the%20locomotion,bird%29%20as%20well%20as%20on%20innovative%20synthetic%20solutions
https://www.mdpi.com/1424-8220/22/12/4440#:~:text=Modernbipedal%20robots%20are%20also%20based%20on%20the%20locomotion,bird%29%20as%20well%20as%20on%20innovative%20synthetic%20solutions
https://news.oregonstate.edu/news/bipedal-robot-developed-oregon-state-achieves-guinness-world-record-100-meters
https://news.oregonstate.edu/news/bipedal-robot-developed-oregon-state-achieves-guinness-world-record-100-meters
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https://www.researchgate.net/publication/326410351_Humanoid_Robot_What_is_missing
https://arxiv.org/pdf/2304.04949
https://arxiv.org/pdf/2304.04949
https://www.researchgate.net/publication/278637918_Valkyrie_NASA's_First_bipedal_humanoid_robot
https://www.researchgate.net/publication/278637918_Valkyrie_NASA's_First_bipedal_humanoid_robot
https://interestingengineering.com/innovation/humanoid-robot-tackles-dishwasher-ai?utm_source=chatgpt.com
https://interestingengineering.com/innovation/humanoid-robot-tackles-dishwasher-ai?utm_source=chatgpt.com
https://global.honda/en/newsroom/news/2000/c001120b-eng.html
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
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https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.bing.com/ck/a?!&&p=91578bcfaa3a27b0ab1ad1907957a2ae146ca57d45bad20f287b10010a978bb9JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9yYXV0ZXJiZXJnLmVtcGxveWVlLmlkLnR1ZS5ubC9wcmVzZW50YXRpb25zL0hDSS1oaXN0b3J5L3RzbGQwOTMuaHRtIzp-OnRleHQ9TXVjaCUyMGxpa2UlMjBpdHMlMjBwcmVkZWNlc3NvcnMlMjBBaWJvJTIwYW5kJTIwQWlibyUyMElJJTJDLGRhbmNpbmclMjB0byUyMGElMjB0dW5lJTIwd2l0aCUyMGElMjBxdWljayUyMHRlbXBvLg
https://www.linuxjournal.com/article/4890
https://www.researchgate.net/publication/331870015_Historical_Developments_of_BHR_Humanoid_Robots
https://www.researchgate.net/publication/331870015_Historical_Developments_of_BHR_Humanoid_Robots
https://www.jstage.jst.go.jp/article/jrsj/30/4/30_30_367/_pdf


Communications on Applied Nonlinear Analysis 

ISSN: 1074-133X 

Vol 32 No. 10s (2025) 

  

3399 
 

https://internationalpubls.com 

[28]https://www.researchgate.net/publication/326410351_Humanoid_Robot_What_is_missi

ng 

[29]https://www.sciencedirect.com/science/article/pii/S1474667016390358 

[30]https://www.researchgate.net/publication/224401380_Biped_humanoid_robot_Mahru_I

II 

[31]https://arxiv.org/pdf/0807.3223v1 

[32]https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee5213

7ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fcl

id=3af76579-1277-

64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2

ZyL2NvbmNlcHQvMjY3OTkwMjU 

[33]https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a

832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fc

lid=3af76579-1277-

64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3

RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoa

WMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGlu

Zyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZ

WRvbS4 

[34] https://www.robotsvoice.com/tulip/ 

[35]https://robotsguide.com/robots/petman 

[36] https://www.jstage.jst.go.jp/article/jrsj/30/4/30_30_363/_pdf/-char/en 

[37]https://www.researchgate.net/publication/220757293_Cybernetic_Human_HRP-

4C_A_Humanoid_Robot_with_Human-Like_Proportions 

[38]https://robotsguide.com/robots/hrp4c 

[39]https://www.tehrantimes.com/news/442991/Iran-unveils-fourth-version-of-Surena-

humanoid-robot 

[40]https://www.astesj.com/v05/i01/p35/ 

[41]https://spectrum.ieee.org/honda-robotics-unveils-next-generation-asimo-robot 

[42]https://robotsguide.com/robots/bhr/ 

[43]https://www.dlr.de/en/rm/research/robotic-systems/humanoids/toro 

[44]https://pal-robotics.com/robot/reem-c/ 

[45] https://robotsguide.com/robots/atlas2013 

[46] https://scispace.com/pdf/humanoid-robot-hrp-4-humanoid-robotics-platform-with-

1kj1kflf5s.pdf 

https://www.researchgate.net/publication/326410351_Humanoid_Robot_What_is_missing
https://www.researchgate.net/publication/326410351_Humanoid_Robot_What_is_missing
https://www.sciencedirect.com/science/article/pii/S1474667016390358
https://www.researchgate.net/publication/224401380_Biped_humanoid_robot_Mahru_III
https://www.researchgate.net/publication/224401380_Biped_humanoid_robot_Mahru_III
https://arxiv.org/pdf/0807.3223v1
https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee52137ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2ZyL2NvbmNlcHQvMjY3OTkwMjU
https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee52137ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2ZyL2NvbmNlcHQvMjY3OTkwMjU
https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee52137ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2ZyL2NvbmNlcHQvMjY3OTkwMjU
https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee52137ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2ZyL2NvbmNlcHQvMjY3OTkwMjU
https://www.bing.com/ck/a?!&&p=e96cbc6c754aaa9a332a07ff914325a3cc37deee52137ac1a6a022d82314602aJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ncmFwaHNlYXJjaC5lcGZsLmNoL2ZyL2NvbmNlcHQvMjY3OTkwMjU
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
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https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.bing.com/ck/a?!&&p=6ba42d7035351480fbb2c77a22c051751f880aba38a832f05a30f255372732d7JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly9ucG8tYXQuY29tL2VuL3Byb2plY3RzL2FyLTYwMC8jOn46dGV4dD1GdWxsLXNpemUlMjBhbnRocm9wb21vcnBoaWMlMjByb2JvdCUyQyUyMDE0NzUlMjBtbSUyMGhpZ2glMkMlMjB3ZWlnaGluZyw1NiUyMGtnJTJDJTIwd2l0aCUyMDM2JTIwZGVncmVlcyUyMG9mJTIwZnJlZWRvbS4
https://www.robotsvoice.com/tulip/
https://robotsguide.com/robots/petman
https://www.jstage.jst.go.jp/article/jrsj/30/4/30_30_363/_pdf/-char/en
https://www.researchgate.net/publication/220757293_Cybernetic_Human_HRP-4C_A_Humanoid_Robot_with_Human-Like_Proportions
https://www.researchgate.net/publication/220757293_Cybernetic_Human_HRP-4C_A_Humanoid_Robot_with_Human-Like_Proportions
https://robotsguide.com/robots/hrp4c
https://www.tehrantimes.com/news/442991/Iran-unveils-fourth-version-of-Surena-humanoid-robot
https://www.tehrantimes.com/news/442991/Iran-unveils-fourth-version-of-Surena-humanoid-robot
https://www.astesj.com/v05/i01/p35/
https://spectrum.ieee.org/honda-robotics-unveils-next-generation-asimo-robot
https://robotsguide.com/robots/bhr/
https://www.dlr.de/en/rm/research/robotic-systems/humanoids/toro
https://pal-robotics.com/robot/reem-c/
https://robotsguide.com/robots/atlas2013
https://scispace.com/pdf/humanoid-robot-hrp-4-humanoid-robotics-platform-with-1kj1kflf5s.pdf
https://scispace.com/pdf/humanoid-robot-hrp-4-humanoid-robotics-platform-with-1kj1kflf5s.pdf


Communications on Applied Nonlinear Analysis 

ISSN: 1074-133X 

Vol 32 No. 10s (2025) 

  

3400 
 

https://internationalpubls.com 

[47]https://avestia.com/CDSR2018_Proceedings/files/paper/CDSR_117.pdf#:~:text=NAO

%20V5%20is%20574%20mm%20tall%20and%20275,length%20102.90%20mm%20

and%20foot%20height%2045.19%20mm 

[48]https://spectrum.ieee.org/iran-surena-iv-humanoid-robot 

[49]https://www.bing.com/ck/a?!&&p=7d0279472cc45f2612251bfbdbbc47f8744b42f3b15

bad517a947e2684e393e2JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&f

clid=3af76579-1277-

64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuZXZvbHZpbmctc2NpZW5jZS

5jb20vaW50ZWxsaWdlbnQtbWFjaGluZXMtcm9ib3RpY3MtYXV0b21hdGlvbi10c

mFuc3BvcnRhdGlvbi9zdXJlbmEtaWlpLW5ldy12ZXJzaW9uLWlyYW5pYW4taHVt

YW5vaWQtcm9ib3QtMDAxMTYjOn46dGV4dD1UaGUlMjBuZXclMjBwcm90b3R

5cGUlMkMlMjBTdXJlbmElMjBJSUklMkMlMjBpcyUyMGFsbW9zdCUyMDEwL

GltcHJvdmVkJTIwbW92ZW1lbnQlMjBza2lsbHMlMjBnaXZlbiUyMGJ5JTIwaXRzJ

TIwMzElMjBET0Yu 

[50]https://www.bing.com/ck/a?!&&p=1346c2248dd6ebcf7cc7d78b3b33370adce7fd038ea

40fef29fb8c18c2241a90JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fcl

id=3af76579-1277-64a3-337d-

731b131965b9&u=a1aHR0cHM6Ly9yb2JvdHNndWlkZS5jb20vcm9ib3RzL2F0bGF

zMjAxNi8 

[51]https://www.bing.com/ck/a?!&&p=ca445f371ecbc5428429d86f9372be574bc108c1656

4d4407ecdf3e2a532325eJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fc

lid=3af76579-1277-64a3-337d-

731b131965b9&u=a1aHR0cHM6Ly9yb2JvdHNndWlkZS5jb20vcm9ib3RzL2Nhc3N

pZS8 

[52]https://www.bing.com/ck/a?!&&p=d91ccaec1a42359b42504f904717aa6c01a41eed026f

6eb6dea51b96cc6f4ae8JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fcli

d=3af76579-1277-

64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuYXBhcm9ib3QuY29tL3JvYm9

0cy90YWxvcyM6fjp0ZXh0PVRBTE9TJTIwc3RhbmRzJTIwMTc1JTIwY20lMjB0Y

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ElMjBsYXJnZSUyMHdvcmtzcGFjZS4 

[53] https://robotsguide.com/robots/talos/ 

[54]https://www.researchgate.net/figure/Parameters-of-robot-BHR-6_tbl1_326709494 

[55]https://cdn.robotshop.com/media/A/Ald/RB-Ald-18/pdf/nao-6-humanoid-robot-

datasheet.pdf 

[56] https://robotsguide.com/robots/mercury/ 

[57]https://robotsguide.com/robots/digit/ 

https://avestia.com/CDSR2018_Proceedings/files/paper/CDSR_117.pdf#:~:text=NAO%20V5%20is%20574%20mm%20tall%20and%20275,length%20102.90%20mm%20and%20foot%20height%2045.19%20mm
https://avestia.com/CDSR2018_Proceedings/files/paper/CDSR_117.pdf#:~:text=NAO%20V5%20is%20574%20mm%20tall%20and%20275,length%20102.90%20mm%20and%20foot%20height%2045.19%20mm
https://avestia.com/CDSR2018_Proceedings/files/paper/CDSR_117.pdf#:~:text=NAO%20V5%20is%20574%20mm%20tall%20and%20275,length%20102.90%20mm%20and%20foot%20height%2045.19%20mm
https://spectrum.ieee.org/iran-surena-iv-humanoid-robot
https://www.bing.com/ck/a?!&&p=7d0279472cc45f2612251bfbdbbc47f8744b42f3b15bad517a947e2684e393e2JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuZXZvbHZpbmctc2NpZW5jZS5jb20vaW50ZWxsaWdlbnQtbWFjaGluZXMtcm9ib3RpY3MtYXV0b21hdGlvbi10cmFuc3BvcnRhdGlvbi9zdXJlbmEtaWlpLW5ldy12ZXJzaW9uLWlyYW5pYW4taHVtYW5vaWQtcm9ib3QtMDAxMTYjOn46dGV4dD1UaGUlMjBuZXclMjBwcm90b3R5cGUlMkMlMjBTdXJlbmElMjBJSUklMkMlMjBpcyUyMGFsbW9zdCUyMDEwLGltcHJvdmVkJTIwbW92ZW1lbnQlMjBza2lsbHMlMjBnaXZlbiUyMGJ5JTIwaXRzJTIwMzElMjBET0Yu
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https://www.bing.com/ck/a?!&&p=7d0279472cc45f2612251bfbdbbc47f8744b42f3b15bad517a947e2684e393e2JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuZXZvbHZpbmctc2NpZW5jZS5jb20vaW50ZWxsaWdlbnQtbWFjaGluZXMtcm9ib3RpY3MtYXV0b21hdGlvbi10cmFuc3BvcnRhdGlvbi9zdXJlbmEtaWlpLW5ldy12ZXJzaW9uLWlyYW5pYW4taHVtYW5vaWQtcm9ib3QtMDAxMTYjOn46dGV4dD1UaGUlMjBuZXclMjBwcm90b3R5cGUlMkMlMjBTdXJlbmElMjBJSUklMkMlMjBpcyUyMGFsbW9zdCUyMDEwLGltcHJvdmVkJTIwbW92ZW1lbnQlMjBza2lsbHMlMjBnaXZlbiUyMGJ5JTIwaXRzJTIwMzElMjBET0Yu
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https://www.bing.com/ck/a?!&&p=d91ccaec1a42359b42504f904717aa6c01a41eed026f6eb6dea51b96cc6f4ae8JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuYXBhcm9ib3QuY29tL3JvYm90cy90YWxvcyM6fjp0ZXh0PVRBTE9TJTIwc3RhbmRzJTIwMTc1JTIwY20lMjB0YWxsJTIwYW5kJTIwd2VpZ2hzJTIwOTUsZXh0ZW5zaW9uJTJDJTIwc3VwcG9ydGluZyUyMGRleHRlcm91cyUyMGJpLW1hbmlwdWxhdGlvbiUyMHdpdGhpbiUyMGElMjBsYXJnZSUyMHdvcmtzcGFjZS4
https://robotsguide.com/robots/talos/
https://www.researchgate.net/figure/Parameters-of-robot-BHR-6_tbl1_326709494
https://cdn.robotshop.com/media/A/Ald/RB-Ald-18/pdf/nao-6-humanoid-robot-datasheet.pdf
https://cdn.robotshop.com/media/A/Ald/RB-Ald-18/pdf/nao-6-humanoid-robot-datasheet.pdf
https://robotsguide.com/robots/mercury/
https://robotsguide.com/robots/digit/


Communications on Applied Nonlinear Analysis 

ISSN: 1074-133X 

Vol 32 No. 10s (2025) 

  

3401 
 

https://internationalpubls.com 

[58]https://robotsguide.com/robots/eve 

[59]https://www.bing.com/ck/a?!&&p=8af2bbba1c06ff6f5d9e1dbabb792e3da225e4cda6a8

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[60]https://www.bing.com/ck/a?!&&p=5a81f74e6025f1f07c68263d4a50d47097bbcf06a5b0

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[61] https://pr.ai/threads/artemis-advanced-robotic-technology-for-enhanced-mobility-and-

improved-stability-humanoid-robot-robotics-mechanisms-laboratory-romela-at-

virgi.24152/ 

[62]https://www.bing.com/ck/a?!&&p=733cafedb3716f3d6e09ea7ef2b006ac62c3d956bceb

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[63]https://www.bing.com/ck/a?!&&p=97a287452621ba4a1fe0e5f68cb8e36429c950673cc

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[64]https://www.bing.com/ck/a?!&&p=710144b0e18140a9a8bc98fce93998c030a71dfe13b

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https://pr.ai/threads/artemis-advanced-robotic-technology-for-enhanced-mobility-and-improved-stability-humanoid-robot-robotics-mechanisms-laboratory-romela-at-virgi.24152/
https://pr.ai/threads/artemis-advanced-robotic-technology-for-enhanced-mobility-and-improved-stability-humanoid-robot-robotics-mechanisms-laboratory-romela-at-virgi.24152/
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Communications on Applied Nonlinear Analysis 

ISSN: 1074-133X 

Vol 32 No. 10s (2025) 

  

3402 
 

https://internationalpubls.com 

NvbnRyb2wlMjBzeXN0ZW0lMjBjb21iaW5pbmclMjBzeW1ib2xpYyUyMGFuZCU

yMG5ldXJhbCUyMHJlYXNvbmluZy4 

[65] https://arxiv.org/pdf/2501.17313 

[66]https://www.aparobot.com/robots/atlas 

[67]https://www.tophumanoidrobots.com/items/figure-02/ 

[68] https://humanoid.guide/product/4ne-1/ 

[69]https://www.aparobot.com/robots/tron1#:~:text=TRON%201%20stands%20approximat

ely%20845%20mm%20tall%2C%20with,for%20peripherals%20like%20cameras%2

C%20robotic%20arms%2C%20and%20LiDAR.Recent Advances in Bipedal Walking 

Robots: Review of Gait, Drive,SensorsandControlSystems 

[70]https://www.bing.com/ck/a?!&&p=3df8b5e3c8358b2967e14d7882613781ce8f8a2600f

cb93c0bf7cf16e197b26dJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fc

lid=3af76579-1277-64a3-337d-

731b131965b9&u=a1aHR0cHM6Ly9hcnhpdi5vcmcvcGRmLzI1MDUuMDU2ODY 

[71]https://www.aparobot.com/robots/unitree-r1 

[72]https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8

705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fcl

id=3af76579-1277-

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2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQV

NCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJ

DJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUy

MGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg 

[73]https://www.aparobot.com/robots/walker-c 

[74]https://robotsguide.com/robots/asimo 

[75]https://robotsguide.com/robots/qrio/ 

[76]http://www.robotsvoice.com/hubo/ 

[77] https://robotsguide.com/robots/atlas 

[78] Dsouza, Royson & Denny, Joe & D’costa, Shannon & Elyas, Mohamed. (2016). 

Humanoid Robots – Past, Present and the Future. 3. 8-15. 

[79]  Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and 

Control Systems 

[80]https://www.numberanalytics.com/blog/mastering-bipedal-

robotics?utm_source=chatgpt.com 

https://www.bing.com/ck/a?!&&p=710144b0e18140a9a8bc98fce93998c030a71dfe13b483d96a234338417f9668JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuYXBhcm9ib3QuY29tL3JvYm90cy9waG9lbml4IzpOnRleHQ9U2FuY3R1YXJ5JTIwQUklRTIlODAlOTlzJTIwUGhvZW5peCUyMGlzJTIwYSUyMDEuN20lMjB0YWxsJTJDJTIwNzBrZyxBSSUyMGNvbnRyb2wlMjBzeXN0ZW0lMjBjb21iaW5pbmclMjBzeW1ib2xpYyUyMGFuZCUyMG5ldXJhbCUyMHJlYXNvbmluZy4
https://www.bing.com/ck/a?!&&p=710144b0e18140a9a8bc98fce93998c030a71dfe13b483d96a234338417f9668JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cuYXBhcm9ib3QuY29tL3JvYm90cy9waG9lbml4IzpOnRleHQ9U2FuY3R1YXJ5JTIwQUklRTIlODAlOTlzJTIwUGhvZW5peCUyMGlzJTIwYSUyMDEuN20lMjB0YWxsJTJDJTIwNzBrZyxBSSUyMGNvbnRyb2wlMjBzeXN0ZW0lMjBjb21iaW5pbmclMjBzeW1ib2xpYyUyMGFuZCUyMG5ldXJhbCUyMHJlYXNvbmluZy4
https://arxiv.org/pdf/2501.17313
https://www.aparobot.com/robots/atlas
https://www.tophumanoidrobots.com/items/figure-02/
https://humanoid.guide/product/4ne-1/
https://www.aparobot.com/robots/tron1#:~:text=TRON%201%20stands%20approximately%20845%20mm%20tall%2C%20with,for%20peripherals%20like%20cameras%2C%20robotic%20arms%2C%20and%20LiDAR
https://www.aparobot.com/robots/tron1#:~:text=TRON%201%20stands%20approximately%20845%20mm%20tall%2C%20with,for%20peripherals%20like%20cameras%2C%20robotic%20arms%2C%20and%20LiDAR
https://www.aparobot.com/robots/tron1#:~:text=TRON%201%20stands%20approximately%20845%20mm%20tall%2C%20with,for%20peripherals%20like%20cameras%2C%20robotic%20arms%2C%20and%20LiDAR
https://www.bing.com/ck/a?!&&p=3df8b5e3c8358b2967e14d7882613781ce8f8a2600fcb93c0bf7cf16e197b26dJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9hcnhpdi5vcmcvcGRmLzI1MDUuMDU2ODY
https://www.bing.com/ck/a?!&&p=3df8b5e3c8358b2967e14d7882613781ce8f8a2600fcb93c0bf7cf16e197b26dJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9hcnhpdi5vcmcvcGRmLzI1MDUuMDU2ODY
https://www.bing.com/ck/a?!&&p=3df8b5e3c8358b2967e14d7882613781ce8f8a2600fcb93c0bf7cf16e197b26dJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9hcnhpdi5vcmcvcGRmLzI1MDUuMDU2ODY
https://www.bing.com/ck/a?!&&p=3df8b5e3c8358b2967e14d7882613781ce8f8a2600fcb93c0bf7cf16e197b26dJmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3-337d-731b131965b9&u=a1aHR0cHM6Ly9hcnhpdi5vcmcvcGRmLzI1MDUuMDU2ODY
https://www.aparobot.com/robots/unitree-r1
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.bing.com/ck/a?!&&p=bbf629e46bbd866913770f56e8f73003728309995c8705f82e4cefb2fca74200JmltdHM9MTc1NzQ2MjQwMA&ptn=3&ver=2&hsh=4&fclid=3af76579-1277-64a3337d731b131965b9&u=a1aHR0cHM6Ly93d3cucm9ja2luZ3JvYm90cy5jb20vY2VzLW5ldy1odW1hbm9pZC1yb2JvdC1mcm9tLWNhc2JvdC8jOn46dGV4dD1DQVNCT1QlMjAwMSUyMHN0YW5kcyUyMDEuNzklMjBtZXRlcnMlMjB0YWxsJTJDJTIwd2VpZ2hzJTIwNjAsZGVzaWduZWQlMjBmb3IlMjBvdmVyJTIwZm91ciUyMGhvdXJzJTIwb2YlMjBjb250aW51b3VzJTIwb3BlcmF0aW9uLg
https://www.aparobot.com/robots/walker-c
https://robotsguide.com/robots/asimo
https://robotsguide.com/robots/qrio/
http://www.robotsvoice.com/hubo/
https://robotsguide.com/robots/atlas
https://www.numberanalytics.com/blog/mastering-bipedal-robotics?utm_source=chatgpt.com
https://www.numberanalytics.com/blog/mastering-bipedal-robotics?utm_source=chatgpt.com