We present a novel approach to deal with transitions while performing a sequence of
dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks …

Over the past decade, the Differential Dynamic Programming (DDP) method has gained in
maturity and popularity within the robotics community. Several recent contributions have led …

This letter deals with the problem of controlling a robotic system whose joints have bounded
position, velocity, and acceleration/torque. Assuming a discrete-time acceleration control, we …

The task-based control framework is well established for its ability to generate complex
behavior in versatile robots. When executing multiple complex tasks, continuous and stable …

Task-space inverse dynamics (TSID) is a well-known optimization-based technique for the
control of highly redundant mechanical systems, such as humanoid robots. One of its main …

Task-space quadratic programming (QP) is an elegant approach for controlling robots
subject to constraints. Yet, in the case of kinematic-controlled (ie, high-gain position or …

The ability to anticipate a fall is fundamental for any robot that has to balance. Currently, fast
fall-prediction algorithms only exist for simple models, such as the linear inverted pendulum …

In this paper we propose a methodology to ensure safe behaviors of multibody robots in
reactive control frameworks. The permanent satisfaction of constraints being insufficient to …

Tool-center-point (TCP) control increases the operating comfort of concrete pumps by
shifting the control to the task space. The operation is accompanied by various requirements …

The research developed in this PhD thesis deals with the general problem of dynamic
control of''task-oriented''under-actuated and redundant systems considering more …