This study proposes a hierarchically integrated framework for safe task and motion planning
(TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles …

Despite their remarkable advancement in locomotion and manipulation, humanoid robots
remain challenged by a lack of synchronized loco-manipulation control, hindering their full …

Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot
control. The choice of dynamic models in trajectory optimization (TO) problems plays a huge …

This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a
modular mechanical structure having point feet to navigate uneven and unfamil-iar terrains …

Enabling humanoid robots to achieve human-level athletic feats, such as running and
jumping, is at the frontier of robotics research. To execute these behaviors, a robot platform …

Model predictive control (MPC) is a powerful tool to control systems with non-linear
dynamics and constraints, but its computational demands impose limitations on the …

Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile
locomotion tasks. This article focuses on improving the dynamic performance of WBRs …

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research
platform for learning-based control. Our lightweight, in-house-built robot is designed …

This paper proposes a novel reduced-order model of rigid body dynamics that can be used
for versatile motion generation of legged robots. It can express both linear CoM movement …

This study addresses the challenge of social bipedal navigation in a dynamic, human-
crowded environment, a research area largely underexplored in legged robot navigation …