Highly dynamic movements such as jumping are important to improve the agility and
environmental adaptation of humanoid robots. This article proposes an online optimization …

In this paper we review more than 140 publications and try to not only give a snap shot of the
current state of the art research in the area, but also to critically analyse and compare …

In this study, we propose adaptive control approaches based on optimization for a two-
wheeled mobile robot. The mathematical model of the self-balancing vehicle based on the …

Generating dynamic jumping motions on legged robots remains a challenging control
problem as the full flight phase and large landing impact are expected. Compared to …

In this paper, we develop a framework to encode demonstrated trajectories as periodic
dynamic motion primitives (DMP) for an impedance-controlled robot and their modification to …

This paper presents a new force sensor design approach that maps the local sampling of
pressure inside a composite polymeric footpad to forces in three axes, designed for running …

This article presents a framework for systematic, stable and passive, dynamical balancing
and locomotion control of flexible-joint bipedal robots. In order to achieve stability/passivity …

This paper presents an overview of the recent progress and development of the humanoid
robot, HanSaRam series, which have been developed in the Robot Intelligence Technology …

In this study, we present a structural optimization framework to design constant force
mechanisms (CFMs) with high energy storage capacity. In the framework, the constant force …

A robust walking stabilization strategy of humanoids on uneven terrain via a QP-based
impedance/admittance control is addressed in this paper. The core idea is combining the …