In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …

Hierarchical least-square optimization is often used in robotics to inverse a direct function
when multiple incompatible objectives are involved. Typical examples are inverse …

The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As
the location of its effective total mass, and consequently, the point of resultant action of …

The mathematical foundation to describe the dynamics of a humanoid mechanism is
reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism …

Hierarchical inverse dynamics based on cascades of quadratic programs have been
proposed for the control of legged robots. They have important benefits but to the best of our …

We provide a tutorial and review of the state-of-the-art in robot dynamics algorithms that rely
on methods from differential geometry, particularly the theory of Lie groups. After reviewing …

We apply fast online trajectory optimization for multi-step motion planning to Cassie, a
bipedal robot designed to exploit natural spring-mass locomotion dynamics using …

We describe our full body humanoid control approach developed for the simulation phase of
the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA …

One popular approach to controlling humanoid robots is through inverse kinematics (IK) with
stiff joint position tracking. On the other hand, inverse dynamics (ID) based approaches have …