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 …

Researchers dream of develo** autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

In order to interact with human environments, humanoid robots require safe and compliant
control which can be achieved through force-controlled joints. In this paper, full body step …

In this paper, we present a convex optimization problem to generate Center of Mass (CoM)
and momentum trajectories of a walking robot, such that the motion robustly satisfies the …

Building on previous propositions to generate walking gaits online through the use of linear
model predictive control, the goal of this paper is to show that it is possible to allow on top of …

We present an interactive design system that allows casual users to quickly create 3D-
printable robotic creatures. Our approach automates the tedious parts of the design process …

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 …

In this paper, we propose a biped walking controller that optimized three push recovery
strategies: the ankle, hip, and step** strategies. We suggested formulations that related …

The paper presents a fast online predictive method to solve the task-priority differential
inverse kinematics of redundant manipulators under kinematic constraints. It implements a …

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 …