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 …

Hierarchical inverse dynamics based on cascades of quadratic programs have been
proposed for the control of legged robots. They have important benefits but to the best of our …

Whole-body control (WBC) is a generic task-oriented control method for feedback control of
loco-manipulation behaviors in humanoid robots. The combination of WBC and model …

We have extended the task-space multiobjective controllers that write as quadratic programs
(QPs) to handle multirobot systems as a single centralized control. The idea is to assemble …

This paper presents a new formulation of prioritized task-space control for humanoids that is
used to develop a dynamic kick and dynamic jump in a 26 degree of freedom simulated …

Collaborative robotics is a possible solution to the problem of musculoskeletal disorders
(MSDs) in industry, but efficiently designing such robots remains an issue because …

The control of a robot in its task space is a standard approach nowadays. If the system is
kinematically redundant with respect to this goal, one can even execute additional subtasks …

Recently several hierarchical inverse dynamics controllers based on cascades of quadratic
programs have been proposed for application on torque controlled robots. They have …

We describe the research and the integration methods we developed to make the HRP-2
humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and …

This paper presents the first steps toward unifying locomotion controllers and algorithms with
whole-body control and manipulation. A theoretical framework for this unification will be …