Online planning of whole-body motions for legged robots is challenging due to the inherent
nonlinearity in the robot dynamics. In this work, we propose a nonlinear model predictive …

This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

While humans are highly capable of recovering from external disturbances and uncertainties
that result in large tracking errors, humanoid robots have yet to reliably mimic this level of …

This study proposes an online walking-pattern generation algorithm with footstep
adjustment. The algorithm enables a biped walking robot to effectively recover balance …

Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned
controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to …

Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with
constrained height based on the capture point. In this paper, we generalize this analysis to …

Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …

In this letter, an integrated control strategy is developed for both locomotion trajectory
planning and postural stability, enabling shared autonomy between the human and lower …

A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …