The control approaches based on the task function formalism, and particularly those
structured as a prioritized hierarchy of tasks, enable complex behaviors with elegant …

We present a method for precomputing robust task-based control policies for physically
simulated characters. This allows for characters that can demonstrate skill and purpose in …

In this paper, we propose a novel and coherent framework for fast footstep planning for
legged robots on a flat ground with 3-D obstacle avoidance. We use swept volume …

The soft fingers and strategic grasping skills enable the human hands to grasp objects in a
stable manner. This letter is to model human grasping skills and transfer the learned skills to …

This paper presents a general method for planning collision-free whole-body walking
motions for humanoid robots. First, we present a randomized algorithm for constrained …

The task-based control framework is well established for its ability to generate complex
behavior in versatile robots. When executing multiple complex tasks, continuous and stable …

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 propose a general and practical planning framework for generating 3-D collision-free
motions that take complex robot dynamics into account. The framework consists of two …

Humanoid robots are complex, dynamic systems. Any humanoid robotic application starts
with determining a sequence of optimal paths to perform a given task in a known or …

This book reports on the developments of the bipedal walking robot Lucy. Special about it is
that the biped is not actuated with the classical electrical drives but with pleated pneumatic …