Teleoperation of humanoid robots enables the integration of the cognitive skills and domain
expertise of humans with the physical capabilities of humanoid robots. The operational …

This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile
maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A …

This paper introduces a new robust, dynamic quadruped, the MIT Cheetah 3. Like its
predecessor, the Cheetah 3 exploits tailored mechanical design to enable simple control …

During human walking, the centre of mass (CoM) is outside the base of support for most of
the time, which poses a challenge to stabilizing the gait pattern. Nevertheless, most of us are …

Realizing high performance of ordinary robots is one of the core problems in robotic
research. Improving the performance of ordinary robots usually relies on the collaborative …

Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …

This paper provides a system overview about ANYmal, a quadrupedal robot developed for
operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular …

This article presents a novel representation-free model predictive control (RF-MPC)
framework for controlling various dynamic motions of a quadrupedal robot in three …