Download scientific diagram | Three-dimensional passive-foot biped robot. The left figure shows the robot coordinates and the right figure shows a clear linkage and joint kinematic view of the robot. from publication: Robust Bipedal Locomotion Based on a Hierarchical Control Structure | To improve biped locomotion's robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The... | Locomotion, Robustness and Motion | ResearchGate, the professional network for scientists.