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 …

Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate
us to study and develop biped robots. Underactuated biped robots adopt the energy efficient …

Studies of biped control including standing, walking, hopping and running on humanoid
robots are reviewed in this survey paper. Model-based approaches standing upon reduced …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and
underactuated bipedal walking, but has significant implementation difficulties when applied …

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 …

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

This letter presents a Differential Dynamic Programming (DDP) framework for trajectory
optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid …

This letter presents a new predictive control architecture for high-dimensional robotic
systems. As opposed to a conventional Model Predictive Control (MPC) approach to …

This paper introduces a new policy-regularized model-predictive control (PR-MPC)
approach to automatically generate and stabilize a diverse set of quadrupedal gaits. Model …

Transferring human motion skills to humanoid robots remains a significant challenge. In this
study, we introduce a Wasserstein adversarial imitation learning system, allowing humanoid …