Safely generating impacts is challenging due to subsequent discontinuous velocity jumps
and high impact forces. For this reason, state-of-the-art multi-robot controllers performing …

Soft soles absorb impacts and cast ground unevenness during locomotion on rough terrains.
However, they introduce passive degrees of freedom (deformations under the feet) that …

Safely generating impacts with robots is challenging due to subsequent discontinuous
velocity and high impact forces. We aim at increasing the impact velocity–the robot's relative …

We describe a methodology to design foot soles for a humanoid robot given walking gait
parameters (ie given center-of-mass and zero-moment-point trajectories). In order to obtain …

In order to control more efficiently the feet–ground interaction of humanoid robots during
walking, we investigate adding outer soft (ie compliant) soles to the feet. The deformation …

We use characteristics inspired by the human gait to reduce the energy expenditure of
walking in low-cost humanoid robots. Our contribution is to implement the height variation of …

This thesis addresses the general problem of the compensation of deformations on a
walking robot, and considers it in the particular context of the medical exoskeleton Atalante …

Tool-held hitting tasks, like hammering a nail or striking a ball with a bat, require humans,
and robots, to purposely collide and transfer momentum from their limbs to the environment …

This manuscript describes the modeling of a serial link robot covering with a thin, flexible
film. By covering a serial link robot with a plastic film, the robot can manipulate daily goods …

Today's humanoid robots are complex mechanical systems with many degrees of freedom
that are built to achieve locomotion skills comparable to humans. In order to synthesize …