This letter aims to achieve automatic tuning of optimal parameters for whole-body control
algorithms to achieve the best performance of high-DoF robots. Typically, the control …

The task of performing locomotion and manipulation simultaneously poses several scientific
challenges, such as how to deal with the coupling effects between them and how to cope …

In this paper, we examine the problem of push recovery for bipedal robot locomotion and
present a reactive decision-making and robust planning framework for locomotion resilient …

This paper focuses on the developments of a generic gait synthesis for the humanoid robot
COMAN. Relying on the essential Gait Pattern Generator (GPG), the proposed synthesis …

Legged locomotion poses significant challenges due to its nonlinear, underactuated and
hybrid dynamic properties. These challenges are exacerbated by the high-speed motion …

Safety and ergonomics of Physical Human-Robot Collaboration (PHRC) are crucial to make
human-robot collaborative systems trustworthy and make a significant impact in real-world …

This paper outlines the design and operation of a teleoperated quadrupedal robot enhanced
with a manipulator arm and gripper. Using the mobile quadruped platform Laikago, a ViperX …

In this work, we present a highly functional teleoperation system, that integrates a full-body
inertia-based motion capture suit and three intuitive teleoperation strategies with a Whole …

In this paper, we present a thorough kinematics analysis of a humanoid two degrees-of-
freedom (DoF) ankle module based on a parallel kinematics mechanism. Compared with the …

The recent increasing demands on accomplishing complicated manipulation tasks
necessitate the development of effective task-motion planning techniques. To help …