In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to
impact emerging robotics applications from logistics, to agriculture, to home assistance. The …

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 …

Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open
problem. To tackle it, a common approach is to rely on reduced template models (eg, the …

This article investigates the problem of efficient computation of physically consistent
multicontact behaviors. Recent work showed that under mild assumptions, the problem …

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 …

To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This
means that they must be capable of applying substantial forces and also mitigating impacts …

Capturability analysis of the linear inverted pendulum (LIP) model enabled walking with
constrained height based on the capture point. In this paper, we generalize this analysis to …

Recently, the centroidal momentum dynamics has received substantial attention to plan
dynamically consistent motions for robots with arms and legs in multi-contact scenarios …

This article presents a planner to generate walking trajectories by using the centroidal
dynamics and the full kinematics of a humanoid robot. The interaction between the robot and …

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 …