Designing controllers for complex robots such as humanoids is not an easy task. Often,
researchers hand-tune controllers, but this is a time-consuming approach that yields a single …

Generating complex whole-body movements for humanoid robots is now most often
achieved with multi-task whole-body controllers based on quadratic programming. To …

Motion retargeting and teleoperation are powerful tools to demonstrate complex whole-body
movements to humanoid robots: in a sense, they are the equivalent of kinesthetic teaching …

Designing controllers for complex robots is not an easy task. Often, researchers hand-tune
controllers for humanoid robots, but this is a time-consuming approach that yields a single …

Deployment of highly redundant robots in real application scenarios require the capability of
generating sophisticated behaviours. Many complex movements like getting up from a chair …

In this thesis, we investigate real-time whole-body control of humanoid robots under multi-
contact-modes settings. That is to say, under different contact conditions such as a mix of …

The ability for a humanoid robot to safely evolve within a human environment is currently an
important topic of research. Generating robust whole-body movements is still an open …

One of the key problems in planning and control of redundant robots is the fast gen-eration
of controls when multiple tasks and constraints need to be satisfied. In the literature, this …