With the advancements in human–robot interaction (HRI), robots are now capable of
operating in close proximity and engaging in physical interactions with humans (pHRI) …

This paper presents a Non-Linear Model Predictive Controller for humanoid robot
locomotion with online step adjustment capabilities. The proposed controller considers the …

Quadruped animals seamlessly transition between gaits as they change locomotion speeds.
While the most widely accepted explanation for gait transitions is energy efficiency, there is …

Human-like trajectory generation and footstep planning represent challenging problems in
humanoid robotics. Recently, research in computer graphics investigated machine-learning …

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous
system and the harsh loading conditions resulting from repeated, high-frequent impacts. The …

This study introduces a robust planning framework that utilizes a model predictive control
(MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This …

In this paper, we examine the problem of push recovery for bipedal robot locomotion and
present a reactive decision-making and robust planning framework for locomotion resilient …

In this paper, we present a highly efficient Divergent Component of Motion (DCM) reference
trajectory generator capable of adapting online to large perturbations acting on the center-of …

In this paper, we present a robust DCM-based online trajectory generator with step timing
adaptation using MPC in addition to manipulating the ground reaction forces by the DCM …

This paper contributes toward the benchmarking of control architectures for bipedal robot
locomotion. It considers architectures that are based on the Divergent Component of Motion …