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 …

We present a motion synthesis framework capable of producing a wide variety of important
human behaviors that have rarely been studied, including getting up from the ground …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

We describe our full body humanoid control approach developed for the simulation phase of
the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA …

One popular approach to controlling humanoid robots is through inverse kinematics (IK) with
stiff joint position tracking. On the other hand, inverse dynamics (ID) based approaches have …

The next generation of autonomous-legged robots will herald a new era in the fields of
manufacturing, healthcare, terrain exploration, and surveillance. We can expect significant …

We describe the design and hardware implementation of our walking and manipulation
controllers that are based on a cascade of online optimizations. A virtual force acting at the …

To enable robust dynamic walking on the Atlas robot, we extend our previous work by
adding a receding-horizon component. The new controller consists of three hierarchies: a …

Whole-body operational space controllers (WBOSCs) are versatile and well suited for
simultaneously controlling motion and force behaviors, which can enable sophisticated …