— This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact b...
We present a novel method to control a biped humanoid robot to walk on unknown inclined terrains, using an online learning algorithm to estimate in real-time the local terrain fro...
— This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable con...
Mario Arbulu, Kazuhito Yokoi, Abderrahmane Kheddar...
Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a "pivoting" manipulation method that allows the humanoid to disp...
Abstract— This paper presents a methodology for the modeling and control of internal forces and moments produced during multi-contact interactions between humanoid robots and the...