Most policy search (PS) algorithms require thousands of training episodes to find an
effective policy, which is often infeasible with a physical robot. This survey article focuses on …

This letter aims to achieve automatic tuning of optimal parameters for whole-body control
algorithms to achieve the best performance of high-DoF robots. Typically, the control …

Generating complex whole-body movements for humanoid robots is now most often
achieved with multi-task whole-body controllers based on quadratic programming. To …

Quadratic programming (QP)-based controllers allow many robotic systems, such as
humanoids, to successfully undertake complex motions and interactions. However, these …

Humanoid robots could replace humans in hazardous situations but most of such situations
are equally dangerous for them, which means that they have a high chance of being …

Humanoid bipedal robots are becoming more and more popular among the research
community thanks to their versatility in terms of locomotion and manipulation capabilities. On …

Squatting is a basic movement of bipedal robots, which is essential in robotic actions like
jumping or picking up objects. Due to the intrinsic complex dynamics of bipedal robots …

Producing useful behaviors on complex robots, such as humanoids, is a challenging
undertaking. Model-based whole-body control alleviates some of this difficulty by allowing …

Robots have to face the real world, in which trying something might take seconds, hours, or
even days. Unfortunately, the current state-of-the-art reinforcement learning algorithms (eg …

The aim of the described research is to design the robot's posture taking into account the
posture adopted by a human being, in consideration of the desired hand position. The final …