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 …

We aim at planning multi-contact sequences of stances and postures for humanoid robots.
The output sequence defines the contact transitions that allow our robot to realize different …

We present a planner for underactuated hyper-redundant robots, such as humanoid robots,
for which the movement can only be initiated by taking contacts with the environment. We …

Our objective in this work is to synthesize dynamically consistent motion for a simulated
humanoid robot in acyclic multi-contact locomotion using multi-objective control. We take as …

We study the feasibility of having various humanoid robots undertake some tasks from those
challenged by the DARPA's call on disaster operations. Hence, we focus on locomotion …

The essence of humanoid robots is their ability to reproduce human skills in locomotion and
manipulation. Early efforts in humanoid research were dedicated to bipedal walking, first on …

We extend the quadratic program (QP)-based task-space character control approach-initially
intended for individual character animation-to multiple characters interacting among each …

We propose a generalized framework together with an algorithm to plan a discrete
sequence of multi-contact stances that brings a set of collaborating robots and manipulated …

This letter presents a novel concept to support physically impaired humans in daily object
manipulation tasks with a robot. Given a user's manipulation sequence, we propose a …

This paper presents the contact-consistent elastic strips (CES) framework, a motion planning
approach capable of producing complex multi-contact whole-body humanoid behaviors in …