The contribution of this work is to show that real-time nonlinear model predictive control
(NMPC) can be implemented on position controlled humanoid robots. Following the idea of …

In this paper, we show that visual servoing can be formulated as an acceleration-resolved,
quadratic optimization problem. This allows us to handle visual constraints, such as field of …

In the robotic domain, the well-known advantages of using predictive controllers have to be
carefully balanced with the fast execution needs of the low-level motion control loops. In this …

We present a complete humanoid navigation scheme based on a topological map known as
visual memory (VM), which is composed by a set of key images acquired offline by means of …

We present a vision-based approach for navigation of humanoid robots in networks of
corridors connected through curves and junctions. The objective of the humanoid is to follow …

Humanoid robots have strong adaptability to complex environments and possess human-
like flexibility, enabling them to perform precise farming and harvesting tasks in varying …

In order to accurately reach a target position while executing a task which imposes occlusion
or constraints of the posture, a humanoid robot requires an adaptive locomotion system …

In this article, we show how visual constraints such as homographies and fundamental
matrices can be integrated tightly into the locomotion controller of a humanoid robot to drive …

In this paper, we address the problem of humanoid locomotion guided from information of a
monocular camera. The goal of the robot is to reach a desired location defined in terms of a …

In this paper, we address the problem of humanoid navigation in a priori unknown
environments, cluttered by obstacles. The robot task is to move within the environment …