In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

This paper presents the design and implementation of a bounding controller for the MIT
Cheetah 2 and its experimental results. The paper introduces the architecture of the …

Hierarchical least-square optimization is often used in robotics to inverse a direct function
when multiple incompatible objectives are involved. Typical examples are inverse …

Model-based control methods can be used to enable fast, dexterous, and compliant motion
of robots without sacrificing control accuracy. However, implementing such techniques on …

The most widely used technique for generating whole-body motions on a humanoid robot
accounting for various tasks and constraints is inverse kinematics. Based on the task …

With the increased application of model-based whole-body control in legged robots, there
has been a resurgence of research interest into methods for accurate system identification …

This paper presents a new formulation of prioritized task-space control for humanoids that is
used to develop a dynamic kick and dynamic jump in a 26 degree of freedom simulated …

This paper present a framework called the stack of tasks (SoT) implementing a generalized
inverted kinematics. This particular implementation provides a run-time graph of …

Control of robots with kinematic constraints like loop-closure constraints or interactions with
the environment requires solving the underlying constrained dynamics equations of motion …

Whole-Body Control (WBC) has emerged as an important framework in locomotion control
for legged robots. However, most WBC frameworks fail to generalize beyond rigid terrains …