Most policy search (PS) algorithms require thousands of training episodes to find an
effective policy, which is often infeasible with a physical robot. This survey article focuses on …

Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open
problem. To tackle it, a common approach is to rely on reduced template models (eg, the …

Central pattern generators (CPGs) form the neural basis of the observed rhythmic behaviors
for locomotion in legged animals. The CPG dynamics organized into networks allow the …

In this paper, we present an inverse optimal control-based transfer of motions from human
experiments to humanoid robots and apply it to walking in constrained environments. To this …

This study proposes a real-time sequential sensor fusion based gait pattern controller.
During the walking cycle, the sensor data is analyzed and obtained by several inertial …

Generating complex movements in redundant robots like humanoids is usually done by
means of multi-task controllers based on quadratic programming, where a multitude of tasks …

This paper proposed a motion planning and control approach for real-time collision
avoidance of high degree-of-freedom (DoF) robots. It constructs a 3D visibility graph by …

Switching dynamical systems provide a powerful, interpretable modeling framework for
inference in time-series data in, eg, the natural sciences or engineering applications. Since …

Quasi-static balancing is important for enabling humanoid robots to move through extremely
rugged terrain, eg, step** over a ditch whose width exceeds the robot's leg length. In this …

Generating complex whole-body movements for humanoid robots is now most often
achieved with multi-task whole-body controllers based on quadratic programming. To …