This paper describes a collection of optimization algorithms for achieving dynamic planning,
control, and state estimation for a bipedal robot designed to operate reliably in complex …

Balance is an essential capability to ensure upright standing and locomotion. Various
external perturbations challenge our balance in daily life and increase the risk for falling and …

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 …

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 …

Studies of biped control including standing, walking, hop** and running on humanoid
robots are reviewed in this survey paper. Model-based approaches standing upon reduced …

We describe a whole-body dynamic walking controller implemented as a convex quadratic
program. The controller solves an optimal control problem using an approximate value …

Recent research suggests the importance of controlling rotational dynamics of a humanoid
robot in balance maintenance and gait. In this paper, we present a novel balance strategy …

We demonstrate a real-time simulation system capable of automatically balancing a
standing character, while at the same time tracking a reference motion and responding to …

Standing is a fundamental skill mastered by humans and animals alike. Although easy for
adults, it requires careful and deliberate manipulation of contact forces. The variation in …

Many data‐driven animation techniques are capable of producing high quality motions of
human characters. Few techniques, however, are capable of generating motions that are …