This paper presents a complete trajectory generation and control approach for achieving a
robust dynamic walking gait for humanoid robots over compliant and uneven terrain. The …

Depression is a common disease occurring in every human at least once in his or her
lifetime. Patients were analyzed based upon their text information, audio, video and image …

The ability of legged systems to traverse highly-constrained environments depends by and
large on the performance of their motion and balance controllers. This paper presents a …

Most control architectures for legged locomotion are either torque or position controlled. In
this paper, we investigate their differences and performances. Aiming to choose the most …

Balancing is a critical feature for a robot interacting with an unstructured environment. The
balancing control should account for unknown perturbation forces that might destabilize the …

In this work we introduced a prioritized Cartesian impedance control under the framework of
the Quadratic Programming (QP) optimization. In particular, we present a formulation which …

Nuclear energy will play a critical role in meeting clean energy targets worldwide. However,
nuclear environments are dangerous for humans to operate in due to the presence of highly …

Introducing humanoid robots in areas where space is limited, for example in search-and-
rescue scenarios or industrial manufacturing, represents a huge challenge, especially when …

This letter presents a study to understand how an underactuated bipedal exoskeleton with
an arbitrary human user can exhibit robust dynamic walking behavior despite severe …