In this paper, we consider the problem of generating appropriate motions for a torque-
controlled humanoid robot that is assigned a multi-contact loco-manipulation task, ie, a task …

Direct multiple shooting (DMS) and direct collocation (DC) are two standard transcription
methods for solving optimal control problems (OCP) in biomechanics and robotics. They …

The collaboration and interaction between humans and robots intensify with ongoing
research and industry needs. Robots require a motion planner that contributes to a safe …

The self-balancing wheelchair is characterized by its small size, flexibility, and strong ground
adaptability. To expand the control range of the pitch angle and enhance the stability of the …

This work presents the computational design and validation of the Multi-Arm Relocatable
Manipulator (MARM), a three-limb robot for space applications, with particular reference to …

In machine learning for robotics, training data quality assumes a crucial role. Many methods
use exploration algorithms to select the most informative data points for the model, often …

This paper proposes a novel approach to online re-plan the walking trajectory of a biped
humanoid robot to avoid unexpected interactions and impacts with dynamic obstacles that …

This paper presents an approach for automatic code generation of nonlinear model
predictive controllers (NMPC) for robotic systems as ROS 2 packages. The developed …

Underactuated systems are becoming an essential field of study within robotics given the
rapid advancement and prevalence of legged and flying systems within the modern world …

Complex systems are very hard to predict and control due to their chaotic dynamics and
open-ended outcomes. However, understanding and harnessing the underlying …