Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

Learning from demonstration (LfD) has been used to help robots to implement manipulation
tasks autonomously, in particular, to learn manipulation behaviors from observing the motion …

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 …

This paper presents a literature survey on aerial manipulation. First of all, an extensive study
of aerial vehicles and manipulation/interaction mechanisms in aerial manipulation is …

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 …

The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

Inefficient communication among project stakeholders is one of the most critical issues in the
architecture, engineering, and construction (AEC) industry. In reality, it is difficult to create a …

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 …

Acquisition of new sensorimotor knowledge by imitation is a promising paradigm for robot
learning. To be effective, action learning should not be limited to direct replication of …

Hierarchical inverse dynamics based on cascades of quadratic programs have been
proposed for the control of legged robots. They have important benefits but to the best of our …