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 …

Humanoid robots have great potential to perform various human-level skills. These skills
involve locomotion, manipulation, and cognitive capabilities. Driven by advances in machine …

We have extended the task-space multiobjective controllers that write as quadratic programs
(QPs) to handle multirobot systems as a single centralized control. The idea is to assemble …

A common strategy to generate efficient locomotion movements is to split the problem into
two consecutive steps: the first one generates the contact sequence together with the …

In this paper, we consider the problem of generating appropriate motions for a torque-
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …

This paper describes the cybernetic avatar system developed by Team JANUS for
connectivity, exploration, and skill transfer: the core domains targeted by the ANA Avatar …

Purpose of review The purpose of this review is to clarify the problems and discuss the
recent research to achieve multi-contact activities by humanoid robots from the viewpoint of …

Unanticipated physical actions from the robot on humans [active physical human–robot
interaction (pHRI)] may be inevitable with the deployment of robots in human-populated …

We propose a formal analysis with some theoretical properties of weight-prioritized multitask
inverse-dynamics-like control of humanoid robots, being a case of redundant “manipulators” …

In future robotic applications in environments such as nursing houses, construction sites,
private homes, etc, robots might need to take unpredicted physical actions according to the …