Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical
reality. This is due to continued progress in three key areas: a mathematical understanding …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

A humanoid robot is expected to be a rational form of machine to act in the real human
environment and support people through interaction with them. Current humanoid robots …

Despite the recent achievements in stable dynamic walking for many humanoid robots,
relatively little navigation autonomy has been achieved. In particular, the ability to …

This paper proposes an effective framework of human-humanoid robot physical interaction.
Its key component is a new control technique for full-body balancing in the presence of …

This paper describes walking control algorithm for the stable walking of a biped humanoid
robot on an uneven and inclined floor. Many walking control techniques have been …

We present an approach to path planning for humanoid robots that computes dynamically-
stable, collision-free trajectories from full-body posture goals. Given a geometric model of …

This paper presents an efficient online method to generate humanoid walking motions that
satisfy desired upper body trajectories while simultaneously carrying objects. A fast motion …

This paper studies real-time gait planning for a humanoid robot. By simultaneously planning
the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and …

Optimization is a promising way to generate new animations from a minimal amount of input
data. Physically based optimization techniques, however, are difficult to scale to complex …