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Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems
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Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots’ propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry.

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Publication Date
Sun Aug 31 2025
Journal Name
Stallion Journal For Multidisciplinary Associated Research Studies
Article Review: Evaluation of the Biological Role and Gene Expression of CD144 in Colorectal Cancer
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Colorectal cancer (CRC) remains a leading cause of cancer-related deaths worldwide, with tumor angiogenesis playing a pivotal role in its progression and metastasis. CD144 (VE-cadherin), a calcium-dependent adhesion molecule, is critical for endothelial cell integrity and has been linked to tumor angiogenesis and cancer stem cell phenotypes. This study aimed to evaluate the immunohistochemical expression of CD144 in benign colorectal lesions, normal adjacent tumor tissue (NRAT), and tumor tissues to elucidate its role in colorectal cancer progression. Multiple techniques, including immunohistochemistry, flow cytometry, Western blot, and qPCR, were used to assess CD144 expression and its association with the VEGF/VEGFR2 signaling pat

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Publication Date
Sat Sep 30 2023
Journal Name
Iraqi Journal Of Chemical And Petroleum Engineering
Review of the Mechanisms for Preventing, Diagnosing, and Treatment of Pipe Sticking in Drilling Operations
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Stuck pipe is a prevalent and costly issue in drilling operations, with the potential to cost the petroleum industry billions of dollars annually. To reduce the likelihood of this issue, efforts have been made to identify the causes of stuck pipes. The main mechanisms that cause stuck pipes include drill cutting of the formation, inappropriate hole-cleaning, wellbore instability, and differential sticking forces, particularly in highly deviated wellbores. The significant consequences of a stuck pipe include an increase in well costs and Non-Productive Time (NPT), and in the worst-case scenario, the loss of a wellbore section and down-hole equipment, or the need to sidetrack, plug, or abandon the well. This paper provides a comprehensive

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Publication Date
Thu Oct 01 2020
Journal Name
Ore Geology Reviews
Book review
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Publication Date
Mon Sep 01 2014
Journal Name
Proceedings Of Ieee East-west Design & Test Symposium (ewdts 2014)
Qubit method for diagnosing digital systems
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Publication Date
Mon Jul 01 2019
Journal Name
J. Pharm. Sci. & Res.
Methods of Synthesis Phthalimide Derivatives and Biological Activity-Review
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Phthalimide formation of Phthalic anhydride with various amines using microwave or without a method with the difference of the catalyst used in a prepared Phthalimide, either structure general are C6H4CONRCO and used as starting materials in synthesis several compounds derivative phthalimides are an important compounds because spectrum wide biological activities including Antimicrobial activity, anticonvulsant activity, Anti-inflammatory activity,Analgesic activity, Anti- influenza activity and Thromboxane inhibitory activity

Publication Date
Wed Jun 01 2022
Journal Name
International Journal Of Arabic-english Studies
Book Review of Ringrow and Pihlaja’s Contemporary Media Stylistics
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Contemporary Media Stylistics permits readers to explore a variety of methodological applications to data analysis. Recent developments in technology and media communication provide linguists and stylisticians with authentic data for analysis based on real-life communication.

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Publication Date
Sun Jul 20 2025
Journal Name
Ibn Al-haitham Journal For Pure And Applied Sciences
An Article Review: Charge-Transfer of Polyenes and Carotenes
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     When an electron moves from one atom or molecule to another, a charge-transfer complex is formed. The other objects must be able to accept these electrons, and one entity must have free electrons or a tendency to donate them. This resembles an internal oxidation-reduction reaction more. This research aims to shed light on charge transfer complexes formed by polyenes and carotenes, which act as electron-donating molecules due to their alternating double and single bonds. This allows them to create such complexes when interacting with organic molecules that lack electrons. These complexes exhibited distinctive optical and physicochemical properties, enabling them to be adapted for a wide range of applications. In addition, th

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Publication Date
Fri Aug 20 2021
Journal Name
European Journal Of Molecular & Clinical Medicine
Comparative study of obesity between men and women: Review
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Obesity is disorder in a foremost nutritional health it’s developed with countries developing. Also is known as increasingin fat accumulation that lead toproblem in health, besidesmay coin one of the reasons lead toloss of life,the obesity not effect on adults just but effect onoffspringand juveniles. In some ofinhabitants the incidence of obesity is superior in female than in male; on the other hand, the variation degree of the between the genderdifferby country.Obesity is generally measured by body mass index and waist circumference, Obesity are classified according to body mass index into:Pre obesity sort 1 : (25 - 29.9) kg/m2, Obesity sort 2 : (30 - 34.9 kg/m2) and extreme obesity sort 3: (40 kg/m2) or greater. Obesity is described by

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Publication Date
Wed Nov 24 2021
Journal Name
2021 Ieee Asia Pacific Conference On Postgraduate Research In Microelectronics And Electronics (primeasia)
Review of 3D Networks-On-Chip Simulators and Plugins
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A comprehensive review focuses on 3D network-on-chip (NoC) simulators and plugins while paying attention to the 2D simulators as the baseline is presented. Discussions include the programming languages, installation configuration, platforms and operating systems for the respective simulators. In addition, the simulator’s properties and plugins for design metrics evaluations are addressed. This review is intended for the early career researchers starting in 3D NoC, offering selection guidelines on the right tools for the targeted NoC architecture, design, and requirements.

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Publication Date
Sat May 21 2011
Journal Name
The International Journal Of Advanced Manufacturing Technology
Magneto-rheological directional control valve
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The main part in hydraulic system is directional control valve. Directional control valve has complex construction such as moving spool to control the direction of actuator for required speed. Magneto-rheological (MR) fluid is one of controllable fluids. Utilizing the MR fluid properties, direct interface can be realized between magnetic field and fluid power without the need for moving parts like spool in directional control valves. This study proposes the design of four ways/three position MR proportional directional control valve (4/3 MR valve). The construction of valve and the principle of work are presented. Analysis for magnetic circuit and simulation for valve performance were done. The experiment was conducted to show the principle

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