In this paper, we examine the problem of push recovery for bipedal robot locomotion and
present a reactive decision-making and robust planning framework for locomotion resilient …

Autonomous navigation in complex environments featuring obstacles, varying ground
compositions, and external disturbances requires real-time motion generation and …

In order to achieve fully autonomous humanoid navigation, environment perception must be
both fast enough for real-time planning in dynamic environments and robust against …

In order to achieve real autonomy, robots have to be able to navigate in completely unknown
environments. Due to the complexity of computer vision algorithms, almost every approach …

In recent years, the capabilities of legged locomotion controllers have been significantly
advanced enabling them to traverse basic types of uneven terrain without visual perception …

In this paper we present a step-planner embedded in a framework which enables a
humanoid robot to navigate among obstacles, exploiting its overall capacities. The system …

Bipedal locomotion is more than dynamically stable walking. The redundant kinematic
design of humanoid robots allows for complex motions in complex scenarios. One challenge …

Analogous to the definition of human–robot interaction, the case of multiple manipulators
with shared workspace, asynchronous manufacturing tasks, and independent objects is …

Collision-free walking in cluttered environments is still an open issue for humanoids. Most
current approaches use heuristics with large safety margins to plan the robot's motion. That …

Footstep planning is the dominating approach when it comes to controlling the walk of a
humanoid robot, even though a footstep plan is expensive to compute. The most prominent …