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

This paper presents a reactive locomotion method for bipedal robots enhancing robustness
and external distur-bance rejection performance by seamlessly rendering several walking …

Step** strategy, including step time and step location modulation, and hip strategy, ie,
upper-body movement, play crucial roles in achieving robust humanoid locomotion …

In this paper, we present a robust DCM-based online trajectory generator with step timing
adaptation using MPC in addition to manipulating the ground reaction forces by the DCM …

Humanoid robots offer significant versatility for performing a wide range of tasks, yet their
basic ability to walk and run, especially at high velocities, remains a challenge. This letter …

In most MPC-based schemes used for humanoid gait generation, simple Quadratic
Programming (QP) problems are considered for real-time implementation. Since these only …

Legged robots are well-suited for operation in challenging natural environments, such as
steep obstacles or vast gaps in the ground. Aside from difficult terrain, robots may also …

We developed a method to enable a humanoid robot to carry stacked boxes. In order to
transport objects efficiently, it is necessary to carry multiple objects at the same time, but in …

When robots walk on uneven terrain, trajectory planning should take into account both the
whole-body dy-namics and the ground geometry simultaneously. In uneven terrain …

In order to enhance the anti-disturbance ability of biped robots, a novel linear model
predictive control framework is proposed in this paper. We integrate the step duration …