We present a single trajectory optimization formulation for legged locomotion that
automatically determines the gait sequence, step timings, footholds, swing-leg motions, and …

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …

The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to
generate stable walking motions without the use of predefined footsteps. Building up on well …

This paper presents a model-based method, called Dynamic Balance Force Control (DBFC),
for determining full body joint torques based on desired COM motion and contact forces for …

Researchers dream of developing autonomous humanoid robots which behave/walk like a
human being. Biped robots, although complex, have the greatest potential for use in human …

In order to interact with human environments, humanoid robots require safe and compliant
control which can be achieved through force-controlled joints. In this paper, full body step …

While humans are highly capable of recovering from external disturbances and uncertainties
that result in large tracking errors, humanoid robots have yet to reliably mimic this level of …

We demonstrate in this paper our motion generation sheme for the generation of stable
bipedal walking motions and we expand it to enhance its flexibility and independency. An …

This letter combines the fast zero-moment-point approaches that work well in practice with
the broader range of capabilities of a trajectory optimization formulation, by optimizing over …

In this paper, we propose a biped walking controller that optimized three push recovery
strategies: the ankle, hip, and stepping strategies. We suggested formulations that related …