Humanoid Locomotion

Humanoid motion generation in a world of stairs

Consider the problem of generating humanoid motions in an environment consisting of horizontal patches located at different heights (world of stairs). To this end, the paper proposes an integrated scheme which combines footstep planning and gait generation. In particular, footsteps are produced by...
From Walking to Running: 3D Humanoid Gait Generation via MPC

We present a real-time algorithm for humanoid 3D walking and/or running based on a Model Predictive Control (MPC) approach. The objective is to generate a stable gait that replicates as closely as possible a footstep plan, i.e., a sequence of candidate footstep positions and orientations with...
Handling Non-Convex Constraints in MPC-Based Humanoid Gait Generation

In most MPC-based schemes used for humanoid gait generation, simple Quadratic Programming (QP) problems are considered for real-time implementation. Since these only allow for convex constraints, the generated gait may be conservative. In this paper we focus on the non-convex reachable region of...
MPC-based gait generation for humanoids: From walking to running

We present a Model Predictive Control (MPC) algorithm for 3D walking and running in humanoids. The scheme makes use of the Variable Height Inverted Pendulum (VH-IP) as prediction model, and generates a Center of Mass (CoM) trajectory and footstep positions online. The MPC works with the nonlinear...
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

Human-like trajectory generation and footstep planning represent challenging problems in humanoid robotics. Recently, research in computer graphics investigated machine-learning methods for character animation based on training human-like models directly on motion capture data. Such methods proved...
MPC-based gait generation for humanoids: From walking to running

We present a Model Predictive Control (MPC) algorithm for 3D walking and running in humanoids. The scheme makes use of the Variable Height Inverted Pendulum (VH-IP) as prediction model, and generates a Center of Mass (CoM) trajectory and footstep positions online. The MPC works with the nonlinear...
A behavior-based framework for safe deployment of humanoid robots

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation...
A behavior-based framework for safe deployment of humanoid robots

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation...
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids

The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-MPC) method for humanoid gait generation, feasibility means being able to satisfy...
Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids

The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-MPC) method for humanoid gait generation, feasibility means being able to satisfy...