Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of
a manipulator so that the end effector moves to a desired position; IK can be applied in many …

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people,
rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all …

Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps
requires systematic approaches across hardware design, motion planning, and control. In …

The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As
the location of its effective total mass, and consequently, the point of resultant action of …

This two-part paper discusses the analysis and control of legged locomotion in terms of N-
step capturability: the ability of a legged system to come to a stop without falling by taking N …

This paper introduces a new policy-regularized model-predictive control (PR-MPC)
approach to automatically generate and stabilize a diverse set of quadrupedal gaits. Model …

Low-dimensional models are ubiquitous in the bipedal robotics literature. On the one hand
is the community of researchers that bases feedback control design on pendulum models …

The growth in automated manufacturing since the '60s has motivated the study of the control
and motion planning of many types of mechanical systems, such as industrial manipulators …

The centroidal momentum of a humanoid robot is the sum of the individual link momenta,
after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a …