Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

Parkour is a grand challenge for legged locomotion that requires robots to overcome various
obstacles rapidly in complex environments. Existing methods can generate either diverse …

This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …

We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC),
focusing on our strategy to avoid failures that required physical human intervention. We …

This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

The development of a versatile, fully-capable humanoid robot as envisioned in science
fiction books is one of the most challenging but interesting issues in the robotic field …

Learning from demonstrations has been shown to be a successful method for non-experts to
teach manipulation tasks to robots. These methods typically build generative models from …

This paper summarizes observations and lessons learned by the WPI-CMU team and self-
reports made by many of the DARPA Robotics Challenge teams on what happened at the …

Robust remote teleoperation of high-DOF manipulators is of critical importance across a
wide range of robotics applications. Contemporary robot manipulation interfaces primarily …