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Caltech

AMBER Lab: rigorous bipedal and legged locomotion control research

Caltech's AMBER Lab is internationally recognized for its mathematically rigorous approach to bipedal and legged locomotion control, producing algorithms directly relevant to humanoid walking and running.

The AMBER (Advanced Mechanical Bipedal Experimental Robotics) Lab at Caltech develops formal control methods grounded in nonlinear dynamics and safety-critical systems theory to achieve stable, efficient bipedal locomotion. Its work on Control Barrier Functions (CBFs) has become a widely cited framework for safe robot motion, applicable to both legged robots and full humanoid systems. The lab's research translates mathematical guarantees into real hardware demonstrations on bipedal platforms, bridging theory and physical deployment. Caltech's contributions are foundational to the control-engineering layer that all walking humanoids depend upon.