Humanoid Locomotion

Humanoid odometric localization integrating kinematic, inertial and visual information
Vision-based corridor navigation for humanoid robots
Vision-based trajectory control for humanoid navigation
Vision-based navigation of omnidirectional mobile robots

This letter considers the problem of collision-free navigation of omnidirectional mobile robots in environments with obstacles. Information from a monocular camera, encoders, and an inertial measurement unit is used to achieve the task. Three different visual servoing control schemes, compatible...
Vision-based odometric localization for humanoids using a kinematic EKF
Repeatable Motion Planning for Redundant Robots over Cyclic Tasks
MPC for Humanoid Gait Generation: Stability and Feasibility

In this article, we present an intrinsically stable Model Predictive Control (IS-MPC) framework for humanoid gait generation that incorporates a stability constraint in the formulation. The method uses as prediction model a dynamically extended Linear Inverted Pendulum with Zero Moment Point (ZMP)...
Sensor-based whole-body planning/replanning for humanoid robots

We propose a sensor-based motion plan-ning/replanning method for a humanoid that must execute a task implicitly requiring locomotion. It is assumed that the environment is unknown and the robot is equipped with a depth sensor. The proposed approach hinges upon three modules that run concurrently:...
MPC for Humanoid Gait Generation: Stability and Feasibility

In this article, we present an intrinsically stable Model Predictive Control (IS-MPC) framework for humanoid gait generation that incorporates a stability constraint in the formulation. The method uses as prediction model a dynamically extended Linear Inverted Pendulum with Zero Moment Point (ZMP)...
Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances