Conventionally, engineers have employed rigid materials to fabricate precise, predictable
robotic systems, which are easily modelled as rigid members connected at discrete joints …

Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of
a manipulator so that the end effector moves to a desired position; IK can be applied in many …

DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged robotic system
that can dribble a soccer ball under the same real-world conditions as humans. We identify …

The promise of oceanic discovery has long intrigued scientists and explorers, whether with
the idea of studying underwater ecology and climate change or with the hope of uncovering …

This paper presents a momentum-based control framework for floating-base robots and its
application to the humanoid robot “Atlas”. At the heart of the control framework lies a …

This paper presents a comprehensive overview of the application of Variable Structure
Systems (VSSs) with Sliding Mode (SM) methods in motion control systems. Our aim is to …

One step on the way to approach human performance in robotics is to provide joint torque
sensing and control for better interaction capabilities with the environment, and a large …

Some quadruped robots developed recently show better dynamic performance and
environmental adaptability than ever, and have been preliminarily applied in the field of …

To synthesize whole-body behaviors interactively, multiple behavioral primitives need to be
simultaneously controlled, including those that guarantee that the constraints imposed by …

Deploying robots to explore venues that are inaccessible to humans, or simply inhospitable,
has been a longstanding ambition of scientists, engineers, and explorers across numerous …