Achieving versatile robot locomotion requires motor skills that can adapt to previously
unseen situations. We propose a multi-expert learning architecture (MELA) that learns to …

Model predictive control (MPC) of legged and humanoid robotic systems has been an active
research topic in the past decade. While MPC for robotic systems has a long history, its …

Whole-body control (WBC) is a generic task-oriented control method for feedback control of
loco-manipulation behaviors in humanoid robots. The combination of WBC and model …

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 …

Purpose of review The purpose of this review is to clarify the problems and discuss the
recent research to achieve multi-contact activities by humanoid robots from the viewpoint of …

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 …

Multi-contact motion is important for humanoid robots to work in various environments. We
propose a centroidal online trajectory generation and stabilization control for humanoid …

This letter uses vector field inequalities (VFI) to prevent robot self-collisions and collisions
with the workspace. Differently from previous approaches, the method is suitable for both …

This paper presents Words2Contact, a language-guided multi-contact placement pipeline
leveraging large language models and vision language models. Our method is a key …

Robotic exploration in natural environments requires adaptable, resilient, and stable
interactions with uncertain terrains. Most state-of-the-art legged robots utilize flat or ball feet …