We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

Our paper proposes a model predictive controller as a single-task formulation that
simultaneously optimizes wheel and torso motions. This online joint velocity and ground …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …

Step adjustment can improve the gait robustness of biped robots; however, the adaptation of
step timing is often neglected as it gives rise to nonconvex problems when optimized over …

This article presents a planner to generate walking trajectories by using the centroidal
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …

Task and Motion Planning has made great progress in solving hard sequential manipulation
problems. However, a gap between such planning formulations and control methods for …

This study presents a whole-body model predictive control (MPC) of robotic systems with
rigid contacts, under a given contact sequence using online switching time optimization …

In legged locomotion, the projection of the robot's Center of Mass (CoM) being inside the
convex hull of the contact points is a commonly accepted sufficient condition to achieve …

Planning multicontact motions in a receding horizon fashion requires a value function to
guide the planning with respect to the future, eg, building momentum to traverse large …