Teleoperation of humanoid robots enables the integration of the cognitive skills and domain
expertise of humans with the physical capabilities of humanoid robots. The operational …

Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

Limb motion capture is essential in human motion-recognition, motor-function assessment
and dexterous human-robot interaction for assistive robots. Due to highly dynamic nature of …

A bstract The omnidirectional drive is a popular challenging trend in today's mobile robotics
where different areas such as swarm, humanoid, legged, train-based, underwater, air flying …

We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus
manufacturing use-case demonstrator. We share experimental knowledge gathered so as to …

In this article, we present an intrinsically stable Model Predictive Control (IS-MPC)
framework for humanoid gait generation that incorporates a stability constraint in the …

Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

We report on the results of a collaborative project that investigated the deployment of
humanoid robotic solutions in air-craft manufacturing for several assembly op erations …

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 …