This paper provides a comprehensive review of the current status, advancements, and future
prospects of humanoid robots, highlighting their significance in driving the evolution of next …

Currently, there is an intensive development of bipedal walking robots. The most known
solutions are based on the use of the principles of human gait created in nature during …

We describe an optimization-based framework to perform complex locomotion skills for
robots with legs and wheels. The generation of complex motions over a long-time horizon …

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 …

In this paper, the concept of divergent component of motion (DCM, also called “Capture
Point”) is extended to 3-D. We introduce the “Enhanced Centroidal Moment Pivot …

In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …

Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …

This letter presents a realtime motion planning and control method that enables a
quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk …

The upcoming generation of humanoid robots will have to be equipped with state-of-the-art
technical features along with high industrial quality, but they should also offer the prospect of …

Legged locomotion holds the premise of universal mobility, a critical capability for many real-
world robotic applications. Both model-based and learning-based approaches have …