The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to
generate stable walking motions without the use of predefined footsteps. Building up on well …

We present a novel approach to deal with transitions while performing a sequence of
dynamic tasks with a humanoid robot. The simultaneous achievement of several tasks …

We demonstrate in this paper our motion generation sheme for the generation of stable
bipedal walking motions and we expand it to enhance its flexibility and independency. An …

Humanoid robots represent the state of the art in complex robot systems. High performance
controllers that can handle unknown perturbations will be required if complex robots are to …

Model Predictive Control (MPC), which involves online optimization of a receding-horizon
objective, has been effectively used to generate robust and reactive controllers for many …

Discussion of big data (BD) has been about data, software, and methods with an emphasis
on retail and personalization of services and products. Big data also has impacted …

This paper proposes a robust biped control to track the desired foot-placements, which is
suitable to locomotion in complex environments. A strategy to determine the referential ZMP …

A novel biped control is proposed. It enables a robust foot-guided maneuver and suits to the
locomotion in complex environments. It treats ZMP as an indirect manipulation variable …

This article presents a comparison between dense and sparse model predictive control
(MPC) formulations, in the context of walking motion generation for humanoid robots. The …

Our purpose is to have the humanoid robot, NAO, to read a story aloud through expressive
verbal and nonverbal behaviors. These behaviors are linked to the story being told and the …