Topics

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...

Hardware design with high impact affordance

High dynamic motion between rigid bodies can lead to severe hardware failures due to abrupt changes in the velocities and torques. Without dedicated hardware...