Whole-body control (WBC) is a generic task-oriented control method for feedback control of
loco-manipulation behaviors in humanoid robots. The combination of WBC and model …

This paper investigates the connection between non-prehensile manipulation, specifically
juggling, and legged locomotion, focusing on biped robots. In this direction, the hybrid …

Whole-body operational space controllers (WBOSCs) are versatile and well suited for
simultaneously controlling motion and force behaviors, which can enable sophisticated …

To improve biped locomotion's robustness to internal and external disturbances, this study
proposes a hierarchical structure with three control levels. At the high level, a foothold …

This study presents a whole body operational space (WBOS) framework for controlling three
dimensional passive-foot biped robot. Stability of WBOS controller is analyzed, and a foot …

This study aims to develop a wheel-legged hybrid robot that combines the advantages of a
humanoid robot and wheeled mobile robots. In this study, a transformation mechanism for …

In this paper, we present a Riemannian Motion Policy (RMP) flow-based whole-body control
framework for improved dynamic legged locomotion. RMPflow is a differential geometry …

This paper presents two strategies for designing underactuated, planar robotic walking gaits
and for realizing them experimentally. The methods draw upon insights gained from the …

In this paper we present advancements in control and trajectory generation for agile
behavior in bipedal robots. We demonstrate that Whole-Body Operational Space Control …

This paper considers the problem of numerically efficient planning for legged robot
locomotion, aiming towards reactive multi-contact planning as a reliability feature. We …