Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …

“Hello, I'm the TERMINATOR, and I'll be your server today”. Diners might soon be feeling this
greeting, with Optimus Prime in the kitchen and Wall-E then sending your order to C-3PO. In …

In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …

In this paper, the concept of divergent component of motion (DCM, also called “Capture
Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …

This letter presents a realtime motion planning and control method that enables a
quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk …

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art
technical features along with high industrial quality, but they should also offer the prospect of …

This work presents a new control approach to multi-contact balancing for torque-controlled
humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot …

Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …