The fields of control and robotics are working toward the development of bipedal robots that
can realize walking motions with the stability and agility of a human being. Dynamic models …

The design, simulation and programming of robotics systems is challenging as expertise
from multiple domains needs to be integrated conceptually and technically. Domain-specific …

Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic walking but
has significant implementation difficulties when applied to the high degrees of freedom …

Novel algorithmic advances have paved the way for robotics to transform the dynamics of
many social and enterprise applications. To achieve true autonomy, robots need to …

Correct real-time software is vital for robots in safety-critical roles such as service and
disaster response. These systems depend on software for locomotion, navigation …

Inter-process communication (IPC) is one of the core functions of modern robotics
middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a …

Complex robot behaviors are often structured as state machines, where states encapsulate
actions and a transition function switches between states. Since transitions depend on …

Correct real-time software is vital for robots in safety-critical roles such as service and
disaster response. These systems depend on software for locomotion, navigation …

State machines are a common model for robot behaviors. Transition functions often rely on
parameterized conditions to model preconditions for the controllers, where the correct …

There is an increasing demand for assistive bipedal robots that are capable of physical
interaction with other agents possibly humans to accomplish collaborative tasks, such as …