Abstract Purpose of Review The field of humanoid robotics, perception plays a fundamental
role in enabling robots to interact seamlessly with humans and their surroundings, leading to …

The robustness of biped walking in unknown and uneven terrains is still a major challenge
in research. Traversing such environments is usually solved through vision-based reasoning …

Autonomous navigation of steel bridge inspection robots are essential for proper
maintenance. Majority of existing robotic solutions for bridge inspection require human …

Maintaining dynamic balance is an important requirement for bipedal robots. To deal with
large disturbances, the footsteps need to be modified depending on the disturbance …

Robots usually establish contacts at rigid surfaces with near-zero relative velocities.
Otherwise, impact-induced energy propagates in the robot's linkage and may cause …

An experimental and theoretical study of real-time robot balancing on inclined surfaces with
electrical feedback circuitry is presented. Force sensors are experimentally shown to extend …

This paper presents recent and ongoing hardware and software upgrades to our humanoid
robot LOLA. The purpose of these modifications is to achieve dynamic multi-contact …

Spring Loaded Pantographs (SLPs) are frequently used in designing lightweight limbs for
multi-legged robots. Quadruped robots that incorporate cable-pulled SLP legs have proven …

Reinforcement learning provides a general framework for achieving autonomy and diversity
in traditional robot motion control. Robots must walk dynamically to adapt to different ground …

When robots walk on uneven terrain, trajectory planning should take into account both the
whole-body dy-namics and the ground geometry simultaneously. In uneven terrain …