Robotics

This paper presents a method for mapping captured human motion with stepping to a humanoid model, considering the current state and the controller behavior.

This paper presents a control framework for humanoid robots that uses all joints simultaneously to track motion capture data and maintain balance.

This project investigates the optimization of, and presents a control framework for, a biped robot to maintain balance and walk on a rolling ball.

This paper presents a control framework for a biped robot to maintain balance and walk on a rolling ball. The control framework consists of two primary components: a balance controller and a footstep planner.