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Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we…

Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…

Robot controllers are often optimised for a single robot in a single environment. This approach proves brittle, as such a controller will often fail to produce sensible behavior for a new morphology or environment. In comparison, animal…

Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

Despite recent advances in control, reinforcement learning, and imitation learning, developing a unified framework that can achieve agile, precise, and robust whole-body behaviors, particularly in long-horizon tasks, remains challenging.…

We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…

Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of center of mass height trajectories, significant amounts of…

Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…

This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…

Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…

Claims that humanoid robots achieve ``human-level'' actuation are common but rarely quantified. Peak torque or speed specifications tell us little about whether a joint can deliver the right combination of torque, power, and endurance at…

Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…

This paper presents JAEGER, a dual-level whole-body controller for humanoid robots that addresses the challenges of training a more robust and versatile policy. Unlike traditional single-controller approaches, JAEGER separates the control…

This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…