A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.


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Foo Bar Identity

Foo Bar design system including logo mark, website design, and branding applications.

Ginger Gulp Identity

Ginger Gulp design system including logo mark, website design, and branding applications.


Mehdi Benallegue

New challenges for humanoids state observation: beyond the precision of floating-base kinematics

Aude Billard

Exploiting at last all degrees in freedom in humanoid robots to pick-up objects in-all parts of the configuration space, including in-between the legs and be...

Alessandro Saccon

Reference Spreading Control and Sensitivity Analysis About Robot Trajectories with Simultaneous Impacts

Patrick Wensing

It All Matters: Considerations Across Design and Control for Contact-Savvy Robots

Jia Yan-Bin

Targeted Batting of In-flight Objects by a Robotic Arm

Ren Zeyu

Design of an Efficient 3-DoF Leg with Series-Parallel and Biarticular Compliant Actuation


High dynamic balancing

Despite the standing stability criterion for robots with co-planar contacts has been established for decades, i.e., restricting the ZMP within the support po...

Impact/Collision Detection

Impact instantaneously changes the states of a robot. Earlier studies shows that it is able to generate considerably high contact force jump within a few mil...

Floating-base state estimation

With the advent of more and more dynamic motions with increasing autonomy, humanoid state estimation is becoming more and more a key factor, and sometimes a ...

Frictional Impact Dynamics Model

To enable impact-awareness in the model-based motion generation paradigms of under-actuated robots, we need the frictional impact dynamics model to preview t...

High dynamic motion generation

In addition to the human-like kinematic structure, humanoids are expected to execute human-level of swift motions. However referring to the failing manipulat...