Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open
problem. To tackle it, a common approach is to rely on reduced template models (eg, the …

This paper presents a generic and efficient approach to generate dynamically consistent
motions for under-actuated systems like humanoid or quadruped robots. The main …

Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to
perform motions at the limit of its reachable workspace while straining to move its body upon …

This paper proposes a locomotion generation method for quadruped robots, which first
computes an optimal trajectory of the robot's center of mass (CoM) and then its whole-body …

The success of robots in real-world environments is largely dependent on their ability to
interact with both humans and said environment. The FP7 EU project CoDyCo focused on …

Traditional industrial applications involve robots with limited mobility. Consequently,
interaction (eg manipulation) was treated separately from whole-body posture (eg …

In this paper we report results on benchmarking a HRP-2 humanoid robot. The humanoid
robots of this serie are known to be very robust. They have been successfully used by …

In this letter, we propose a controller for legged robots that takes into account the individual
contact compliance. This controller is able to achieve both balance stabilization and force …

Motivated by the similar structure and actuation mechanism to humans and animals, the
study of musculoskeletal robots has gained attention in recent years. However, the unilateral …

Balance is an essential feature of humanoids but, despite a strong understanding of its laws
and dynamics, it remains an open problem for control applications. Optimizationbased …