The graceful and agile movements of animals are difficult to analyze and emulate because
locomotion is the result of a complex interplay of many components: the central and …

Robots with many degrees of freedom (eg, humanoid robots and mobile manipulators) have
increasingly been employed to accomplish realistic tasks in domains such as disaster relief …

Over the last two decades, the foundations for physical human–robot interaction (pHRI) have
evolved from successful developments in mechatronics, control, and planning, leading …

In December 2013, 16 teams from around the world gathered at Homestead Speedway near
Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive …

Abstract Models are among the most essential tools in robotics, such as kinematics and
dynamics models of the robot's own body and controllable external objects. It is widely …

This paper presents a momentum-based control framework for floating-base robots and its
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …

This article presents a holistic approach to the engineering of an artificial robot skin for
robots. An example of a multimodal skin cell is given, one that supports multiple human-like …

We present a manipulation planning framework that allows robots to plan in the presence of
constraints on end-effector pose, as well as other common constraints. The framework has …

Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

One step on the way to approach human performance in robotics is to provide joint torque
sensing and control for better interaction capabilities with the environment, and a large …