Abstract—This paper presents a new methodology for the analysis and control of internal forces and center-of-mass (CoM) behavior, which are produced during multicontact interacti...
Abstract. In the Humanoid Leagues balancing during walking and running is still the biggest challenge for most of the teams. We present here some work in which a dynamic walker is ...
Norbert Michael Mayer, Minoru Asada, Rodrigo da Si...
Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...
— Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foo...
Sarah Degallier, Ludovic Righetti, Auke Jan Ijspee...
— The goal of this study is a system for a robot to imitate human dances. This paper describes the process to generate whole body motions which can be performed by an actual bipe...