Finding the time-optimal parameterization of a given path subject to kinodynamic constraints
is an essential component in many robotic theories and applications. The objective of this …

We present a contact planner for complex legged locomotion tasks: standing up, climbing
stairs using a handrail, crossing rubble, and getting out of a car. The need for such a planner …

In this paper we investigate the problem of optimising the speed of a vehicle over a fixed
path for minimum time traversal. We utilise a change of variables that has been known since …

We propose a method for checking and enforcing multicontact stability based on the zero-
tilting moment point (ZMP). The key to our development is the generalization of ZMP support …

Humanoids locomote by making and breaking contacts with their environment. Thus, a
crucial question for them is to anticipate whether a contact will hold or break under effort. For …

This paper presents a method for generating dynamically feasible, keyframe-interpolating
motions for robots undergoing contact, such as in legged locomotion and manipulation. The …

We build on previous works advocating the use of the Gravito-Inertial Wrench Cone (GIWC)
as a general contact stability criterion (a “ZMP for non-coplanar contacts”). We show how to …

A consistent method is presented for solving the so-called general waiter problem, which is
to move a tray (mounted at the end-effector of a robot) with a number of loosely placed …

Time-optimal path parameterization (TOPP) under actuation bounds plays a fundamental
role in many robotic theories and applications. This algorithm was first developed and …

This study presents a theoretical method for planning and controlling agile bipedal
locomotion based on robustly tracking a set of non-periodic keyframe states. Based on …