The promise of legged robots over wheeled robots is to provide improved mobility over
rough terrain. Unfortunately, this promise comes at the cost of a significant increase in …

While humans are highly capable of recovering from external disturbances and uncertainties
that result in large tracking errors, humanoid robots have yet to reliably mimic this level of …

Compliance control is important for the realization of disturbance absorption in biped robots.
However, under a sustained disturbance, compliance control causes the robot's balance to …

We present a method for humanoid robot walking on partial footholds such as small
step** stones and rocks with sharp surfaces. Our algorithm does not rely on prior …

This paper proposes a novel model predictive control (MPC) for humanoid locomotion that
reasons about orientation dynamics and footstep placement in a unified optimization …

In this paper, we propose a biped walking controller that optimized three push recovery
strategies: the ankle, hip, and step** strategies. We suggested formulations that related …

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 …