Fault-tolerant motion planning and generation of quadruped robots synthesised by posture optimization and whole body control

Whole body motion control of humanoid robots using bilateral control

This paper deals with the whole body motion control problem of humanoid robots by using automatic and bilateral control methods. Advanced motion controllers are proposed so that human daily life activities, such as walking on an uneven terrain and contacting an unknown object, can be performed. It is shown that the uncertainty of environmental impedance variation is one of the main challenging ...

Whole-body hierarchical motion and force control for humanoid robots

Robots acting in human environments usually need to perform multiple motion and force tasks while respecting a set of constraints. When a physical contact with the environment is established, the newly activated force task or contact constraint may interfere with other tasks. The objective of this paper is to provide a control framework that can achieve realtime control of humanoid robots perfo...

Projection based whole body motion planning for legged robots

In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body dynamics onto the null space of the Constraint Jacobian. As consequence of the projection, contact forces are removed from the model but their effects are still ta...

Whole Body Motion Planning

Humanoid robots become increasingly sophisticated, both in terms of their movement as well as their sensorial capabilities. This allows to target for more complicated problems, eventually leading to robotic systems that can perform useful tasks in every days environment. In this paper, we will give an overview on some elements we consider to be important for a movement control and planning arch...

Motion Planning and Control of Robots