Flexible and versatile mobile robotic coworkers are becoming an indispensable commodity
for helping humans with repetitive or physically demanding work. A key challenge with these …

The main contributions of this MS Thesis is centered around taking steps towards successful
multi-modal demonstrations using Northeastern's legged-aerial robot, Husky Carbon. This …

Legged robots must contend with challenges like load fluctuations, external forces, and
modeling errors in their working environment, all of which can lead to inaccuracies in the …

In order to achieve real autonomy, robots have to be able to navigate in completely unknown
environments. Due to the complexity of computer vision algorithms, almost every approach …

This paper considers dynamic stepping of biped robots when walking through a big
obstacle, which is a great problem for these kinds of robots, using nonlinear model …

Humanoid robots are typically designed to function in static environments using markers and
fixtures. To broaden their application, it is vital to understand environmental uncertainties …

A humanoid locomotion control method with human-like perceptive model is described in
this paper. Traditionally the locomotion problem of biped robot is divided into temporal …

Biped humanoid robots are unstable intrinsically with unexpected disturbances. Traditional
locomotion algorithms use time as reference for cooperative motions of feet, center of mass …