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We enable swift robot motion without fearing impacts with the environment. For instance in a box manipulation task, the robot does not need to stop or use cl...
New challenges for humanoids state observation: beyond the precision of floating-base kinematics
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...
High Performance Balancing on a Narrow Support
Emergent Humanoid Robot Motion Synergies Derived from the Momentum Equilibrium Principle and the Distribution of Momentum
Reference Spreading Control and Sensitivity Analysis About Robot Trajectories with Simultaneous Impacts
It All Matters: Considerations Across Design and Control for Contact-Savvy Robots
Targeted Batting of In-flight Objects by a Robotic Arm
Design of an Efficient 3-DoF Leg with Series-Parallel and Biarticular Compliant Actuation
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 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...
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 ...
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...
In addition to the human-like kinematic structure, humanoids are expected to execute human-level of swift motions. However referring to the failing manipulat...
High dynamic motion between rigid bodies can lead to severe hardware failures due to abrupt changes in the velocities and torques. Without dedicated hardware...