A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control

How do walkers avoid a mobile robot crossing their way?

Benchmarking data for human walking in different scenarios

Wie viel Intelligenz steckt in der Mechanik unseres Körpers? Passiv-dynamische Roboter, menschliche Bewegungsstudien, mathematsche Modelle und Kleists Marionettentheater

Principles underlying locomotor trajectory

Evaluation of physical damage associated with action selection strategies in reinforcement learning

Self-calibration of Joint Offsets for Humanoid Robots Using Accelerometer Measurements

Analysis of human leg joints compliance in different walking scenarios with an optimal control approach

Squat Motion Generation for the Humanoid Robot iCub with Series Elastic Actuators

Timing and geometry of planning and execution of human movements

Robust human-inspired power law trajectories for humanoid HRP-2 robot

Human Push-Recovery: Strategy Selection Based on Push Intensity Estimation

Human planning and control of real-time robotic arm movements

Redundancy Resolution of human arm movements

Using Language Models to Generate Whole-Body Multi-Contact Motions

Dimensionality Reduction for Whole-Body Human Motion Recognition

Unifying Representations and Large-Scale Whole-Body Motion Databases for Studying Human Motion

Geometrical Invariance and Smoothness Maximization for Task-Space Movement Generation

Optimization as guiding principle of locomotion

Inverse optimal control as a tool to understand human movement

Towards a Better Understanding of Stability in Human Walking Using Model-Based Optimal Control and Experimental Data

Modeling of coordinated human body motion by learning of structured dynamic representations

Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots

Movement Science for humans and humanoids: A survey of methods and applications

Advanced human inspired walking strategies for humanoid robots

Two Ways of Walking: Contrasting a Reflexive Neuro-Controller and a LIP-Based ZMP-Controller on the Humanoid Robot ARMAR-4

Face Recognition: Canonical Mechanisms at Multiple Timescales

Transfer menschlicher Laufbewegungen auf Modelle humanoider Roboter mithilfe mathematischer Optimierung

Parallel Online Temporal Difference Learning for Motor Control

Mirror Neurons in Monkey Premotor Area F5 Show Tuning for Critical Features of Visual Causality Perception

Incremental Semiparametric Inverse Dynamics Learning

A Versatile and Efficient Pattern Generator for Generalized Legged Locomotion

On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization

A unifying framework for the identification of motor primitives

A novel approach for the generation of complex humanoid walking sequences based on a combination of optimal control and learning of movement primitives

An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots

Reflex and Model-based Approaches for Dynamic Walking of Humanoid Robots

Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground

Humanoid walking with compliant soles using a deformation estimator

Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics

Fast closest logarithm algorithm in the special orthogonal group

Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking

Reinforcement Learning of Potential Fields to achieve Limit-Cycle Walking

RBDL – an Efficient Rigid-Body Dynamics Library using Recursive Algorithms

Synthesis of Full-Body 3-D Human Gait using Optimal Control Methods

Cortical circuits and modules in movement generation: experiments and theories

Humanoid Push Recovery by Stepping into Capture Point using Dynamic Movement Primitives

Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot

Benchmarking model-free and model-based optimal control

Robustness in View-Graph SLAM

Joint Torque Analysis of Push Recovery Motions during Human Walking

Real-Time Whole-Body Human Motion Tracking Based on Unlabeled Markers

Referenzmodell des menschlichen Körpers zur Generierung und zum Transfer menschlicher Bewegungen auf humanoide Roboter

Effects of aging on discriminating emotions from point-light walkers

Motion Generation for Pulling a Fire Hose by a Humanoid Robot

The KIT Motion-Language Dataset

Optimal Push Recovery for Periodic Walking Motions

Walking Control Framework for the Humanoid Robot HeiCub: Implementation and Experimental Validation

Preference-driven demonstration ranking for inverse reinforcement learning

Stable bipedal foot planting on uneven terrain through optimal ankle impedance

Model-based optimization for the design of exoskeletons that help humans to sustain large pushes while walking

Observing the State of Balance with a Single Upper-Body Sensor

Human-inspired models for guiding robot locomotion

Cartesian 6-DoF gaze controller for humanoid robots

Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons

Adaptation of walking ground reaction forces to changes in ground stiffness properties

Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds

Adaptive synthesis of dynamically feasible full-body movements for the humanoid robot HRP-2 by flexible combination of learned dynamic movement primitives

Planning beyond preparation time: on the fly motor planning of intentionally curved movements

Influence of compliance modulation on human locomotion

Design of optimized compliant soles for humanoid robots

Optimized humanoid walking with compliant soles

A unifying framework for the identification of kinematic end electromyographic motor primitives

The internal timing of complex movements indicates a global movement plan

Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis

Biological and Body Motion Perception

Brain activity correlates with emotional perception induced by dynamic avatars

Motion Planning and Irreducible Trajectories

Modellierung und Optimierung von Push-Recovery Bewegungen von humanoiden Robotern

Neural and Computational Mechanisms of Action Processing: Interaction between Visual and Motor Representations

An Optimal Control Approach to Reconstruct Human Gait Dynamics from Kinematic Data

In Situ Calibration of Six-Axis Force-Torque Sensors using Accelerometer Measurements

Benchmarking bipedal locomotion in humanoids, wearable robots and humans: a unified scheme

On the dualities between grasping and whole-body loco-manipulation tasks

Estimation and stabilization of humanoid flexibility deformation using only inertial measurement unit and contact information

An analytical model of rolling contact and its application to the modeling of bipedal locomotion

Force Sensing for Compliant Actuators Using Coil Spring Inductance

On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach

Dyna-MLAC: Trading Computational and Sample Complexities in Actor-Critic Reinforcement Learning

Modeling Emotional Aspects in Human Locomotion

IK-MAP: An Enhanced Workspace Representation to Support Inverse Kinematics Solvers

Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque Sensors

Prioritized motion–force control of constrained fully-actuated robots: “Task Space Inverse Dynamics”

Multimodal sensor fusion for foot state estimation in bipedal robots using the extended kalman filter

Enhanced torque-controlled balancing through multimodal sensor fusion based on an Extended Kalman Filter

Bayesian approaches for learning of primitive-based compact representations of complex human activities

Inertial parameters identification and joint torques estimation with proximal force/torque sensing

Control Strategies for Active Lower Extremity Prosthetics and Orthotics: A Review

iCub whole-body control through force regulation on rigid non-coplanar contacts

Walking Paths to and from a Goal Differ: On the Role of Bearing Angle in the Formation of Human Locomotion Paths

A humanoid walking pattern generator for sole design optimization

Optimal Control for Applications in Medical and Rehabilitation Technology – Challenges and Solutions

Collocated Adaptive Control of Underactuated Mechanical Systems

The KIT Whole-Body Human Motion Database

Prioritized Optimal Control: a Hierarchical Differential Dynamic Programming approach

Analyzing Whole-Body Pose Transitions in Multi-Contact Motions

Modeling of predictive human movement coordination patterns for applications in computer graphics

The Yoyo-Man

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing

Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations

Prejudiced interactions: implicit racial bias reduces predictive simulation during joint action with an out-group avatar

Das Wunder der Bewegung – Gehen wie ein Mensch

Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms

Using optimal control to generate squat motions for the humanoid robot iCub with SEA

Simultaneous state and dynamics estimation in articulated structures

Using Model-based Optimal Control for Conceptional Motion Generation for the Humannoid Robot HRP-2 14 and Design Investigations for Exo-Skeleton

Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking

Experiments with MuJoCo on HRP-2

Analysis of Human Push Recovery based on Mathematical Models

On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach

Dissipatively actuated manipulation, in Control Engineering Practice

Multi-Character Physical and Behavioral Interactions Controller

Multi-contact Vertical ladder climbing with HRP-2 humanoid

The Variational Coupled Gaussian Process Dynamical Model

Nonlinear State Estimation for a Bipedal Robot

A new template model for optimization studies of human walking on different terrains

Integration of non-inclusive contacts in posture generation

Studying Dynamical Principles of Human Locomotion using Inverse Optimal Control

Vertical ladder climbing by the HRP-2 humanoid robot

Exploiting global force torque measurements for local compliance estimation in tactile arrays

Control Design for Robust Limit-Cycle Walking

TC Spotlight: Model-based Optimization for Robotics

Distance Metric Approximation for State-Space RRTs using Supervised Learning

Coupling Gaussian Process Dynamical Models with Product-of-Experts Kernels.

Model-based optimization for robotics

Model Preview Control in Multi-Contact Motion-Application to a Humanoid Robot

Humanoid Flexibility Deformation Can Be Efficiently Estimated Using Only Inertial Measurement Units and Contact Information

METAPOD – Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering

Towards reactive vision-guided walking on rough terrain: an inverse dynamic based approach

Partial Force Control of Constrained Floating-Base Robots

Representing the robot’s workspace through constrained manipulability analysis

Optimization model of the predictive head direction for humanoid robots

Robust Real-time 6D Active-visual Localization for Humanoid Robots

Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles

The building blocks of curved trajectories: Studying the effect of shortened preparation time on movement planning and execution

Skeleton model for the neurodynamics of visual action representations

A two-stage suboptimal approximation for variable compliance and torque control

Human balance responses to perturbations in the horizontal plane

Gaze Stabilization for Humanoid Robots: a Comprehensive Framework

Master Motor Map (MMM) – Framework and Toolkit for Capturing, Representing, and Reproducing Human Motion on Humanoid Robots

Stiction Compensation in Agonist-Antagonist Variable Stiffness Actuators

The Default Mode Network Differentiates Biological From Non-Biological Motion

Creating MMM Objects with Blender and the RobotEditor plugin

Control of a two-DOF manipulator equipped with a pnr- Variable Stiffness Actuator

How-To: Master Motor Map & Motion Database

The Koroibot Markerset

Prioritized Optimal Control

Movement decomposition and compositionality based on geometric and kinematic principles

Dynamic Whole Body Motion Generation for the Dance of a Humanoid Robot

Key performance indicators for humanoid walking motions defined in the KoroiBot project

Whole-body Motion Integrating the Capture Point in the Operational Space Inverse Dynamics Control

An optimizaton-based study of compliance in human running

Towards Gyroscopic Balance Assistance: Proof of Concept

Compliance analysis of human leg joints in level ground walking with an optimal control approach

A head-neck-system to walk without thinking

Model selection for the extraction of movement primitives