We report on the results of a collaborative project that investigated the deployment of
humanoid robotic solutions in air-craft manufacturing for several assembly op erations …

Running and jum** are locomotion modes that allow legged robots to rapidly traverse
great distances and overcome difficult terrain. In this article, we show that the 3-D divergent …

This paper presents a complete trajectory generation and control approach for achieving a
robust dynamic walking gait for humanoid robots over compliant and uneven terrain. The …

This letter presents a new push recovery algorithm for humanoid robots in balancing
scenarios by exploiting the system's rotational dynamics. The proposed framework actively …

Synthesizing legged locomotion requires planning one or several steps ahead (literally):
when and where, and with which effector should the next contact (s) be created between the …

In this paper, we present a highly efficient Divergent Component of Motion (DCM) reference
trajectory generator capable of adapting online to large perturbations acting on the center-of …

Gait generation frameworks for humanoid robots typically assume a constant centroidal
angular momentum (CAM) throughout the walking cycle, which induces undesirable contact …

In this paper, we present a robust DCM-based online trajectory generator with step timing
adaptation using MPC in addition to manipulating the ground reaction forces by the DCM …

Embedding elastic elements into legged robots through mechanical design enables highly
efficient oscillating patterns that resemble natural gaits. However, current trajectory planning …

In order to perform various complex tasks in place of humans, humanoid robots should walk
robustly in the presence of interference. In the paper, an improved model predictive control …