Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the...
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...
— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a huma...
This paper describes methods used in stabilizing the walking gait of TAO-PIE-PIE, a small humanoid robot given rate feedback from two RC gyroscopes. TAO-PIE-PIE is a fully autonomo...
— This paper presents a multi-skill motion planner which is able to sequentially synchronize parameterized motion skills in order to achieve humanoid motions exhibiting complex w...