This work presents a new control approach to multi-contact balancing for torque-controlled
humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot …

This work presents a new approach to whole-body control for balancing and posture
stabilization of humanoid robots utilizing an optimization of contact forces in combination …

Balancing is a critical feature for a robot interacting with an unstructured environment. The
balancing control should account for unknown perturbation forces that might destabilize the …

The standard approach to real-time control of humanoid robots relies on approximate
models to produce a motion plan, which is then used to control the whole body. Separation …

This paper presents a new model of the dynamics of a general planar robot balancing on a
point in the plane, in which the essential parameters of the robot's balancing behaviour are …

This paper is about the design of humanoid walking pattern generators to be used for
physical collaboration. A particular use case is a humanoid robot hel** a human to carry …

In this work we present a framework for kinesthetic teaching and iterative refinement of
whole body motions. For detection of external forces we apply a momentum based …

Bipedal robots have gained increasing attention for their human-like mobility which allows
them to work in various human-scale environments. However, their inherent instability …

Most of conventional controllers are prone to consume more computational time for
controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid …

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 …