OICC Press Majlesi Journal of Electrical Engineering 2345-3796 8 4 2024 02 21 Bipedal Robot Locomotion on a Terrain with Pitfalls EN Alireza Tabrizizadeh Department of Electrical Engineering,Science and Research Branch,Islamic Azad University,Tehran,Iran Fariba Bahrami Tehran, Iran. Mohammad Javad Yazdanpanah Tehran, Iran. Journal Article 2024 02 21 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.