@article{Tabrizizadeh_Bahrami_Yazdanpanah_2024, title={Bipedal Robot Locomotion on a Terrain with Pitfalls}, volume={8}, url={https://oiccpress.com/Majlesi-Journal-of-Electrical-Engineering/article/bipedal-robot-locomotion-on-a-terrain-with-pitfalls/}, abstractNote={In this paper a locomotion control system for bipedal robot is proposed to provide desirable walking on a terrain and skipping over a pitfall preventing the robot from falling in it.The proposed strategy is a combination of motion optimization based on particle swarm optimization algorithm and utilization of mode switching at  a higher level controller.The model for biped robot is a compass gait model but the method presented is general and could be appropriatly extended and generalized for other complicated models.}, number={4}, journal={Majlesi Journal of Electrical Engineering}, publisher={OICC Press}, author={Tabrizizadeh, Alireza and Bahrami, Fariba and Yazdanpanah, Mohammad Javad}, year={2024}, month={Feb.}, keywords={Particle swarm optimization, Bipedal Robot Locomotion, Central Pattern Generator, Switching Controller. Compass Gait Model} }