typically of the order of milliseconds. 4. Robot State Sensing and Estimation: sensors and state estimation algorithms to provide information about the physical state of the robot to all other modules. Figure. 2.6 Control of a walking robot. This section contains definitions of some basic terms that are used in the thesis. Walking bipedal robots are robotic systems that can walk using two legs. Terms biped, which stands for any two-footed animal or robot; humanoid, which denotes mechanical systems