We describe the design and hardware implementation of our walking and manipulation
controllers that are based on a cascade of online optimizations. A virtual force acting at the …

Since 2015, there has been an increase in articles on anomaly detection in robotic systems,
reflecting its growing importance in improving the robustness and reliability of the …

In this paper, we present a modular and flexible state estimation framework for legged robots
operating in real-world scenarios, where environmental conditions, such as occlusions, low …

We describe Team WPI-CMU's approach to the DARPA Robotics Challenge (DRC),
focusing on our strategy to avoid failures that required physical human intervention. We …

Abstract Purpose of Review The field of humanoid robotics, perception plays a fundamental
role in enabling robots to interact seamlessly with humans and their surroundings, leading to …

A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …

This letter presents a novel cascade state estimation framework for the three-dimensional (3-
D) center of mass (CoM) estimation of walking humanoid robots. The proposed framework …

In the DARPA Robotics Challenge (DRC), participating human‐robot teams were required to
integrate mobility, manipulation, perception, and operator interfaces to complete a simulated …

State estimation techniques for humanoid robots are typically based on proprioceptive
sensing and accumulate drift over time. This drift can be corrected using exteroceptive …

The ability to anticipate a fall is fundamental for any robot that has to balance. Currently, fast
fall-prediction algorithms only exist for simple models, such as the linear inverted pendulum …