The theory to analyze the relationship between the position and attitude of a link and the
joint angles of a mechanism is called Kinematics. It is the basis on which robotics is formed …

Recent advances in mobility, manipulation, and intelligence of robots have promoted the
usability of humanoid robots to support humans in their daily lives in the future. The multi …

This paper gives an overview on the torque-controlled humanoid robot TORO, which has
evolved from the former DLR Biped. In particular, we describe its mechanical design and …

This paper builds up on the Capture Point concept and exploits the simple form of the
dynamical equations of the Linear Inverted Pendulum model when formulated in terms of the …

This work presents a new control approach to multi-contact balancing for torque-controlled
humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot …

The most widely used technique for generating whole-body motions on a humanoid robot
accounting for various tasks and constraints is inverse kinematics. Based on the task …

This paper presents a new balancing control approach for regulating the center of mass
position and trunk orientation of a bipedal robot in a compliant way. The controller computes …

The vision of seamless human-robot interaction in our everyday life that allows for tight
cooperation between human and robot has not become reality yet. However, the recent …

This paper reports the design and control of a fast torque-controlled hydraulic humanoid
robot, TaeMu. The robot has 15 active joints that are all driven by hydraulic servocylinders …

In this paper, we extend the Divergent Component of Motion (DCM, also calledCapture
Point') to 3D. We introduce the “Enhanced Centroidal Moment Pivot point”(eCMP) and the …