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This two-part paper discusses the analysis and control of legged locomotion in terms of N-step captura-bility: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomo-tion and a useful, yet not overly restrictive criterion for stability. Part 1 introduces a(More)
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems(More)
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step captura-bility: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomo-tion and a useful, yet not overly restrictive criterion for stability. Part 1 introduced the N-step(More)
This paper works with the concept of Divergent Component of Motion (DCM), also called `(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract The DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite(More)
This video highlights work to date on the Yobotics-IHMC Lower Body Humanoid Robot. The robot is a twelve degree-of-freedom robot with force controllable Series Elastic Actuators at each degree of freedom. Control algorithms utilize Virtual Model Control, and foot placement is determined using Capture Regions. The robot can recover from moderate disturbances(More)
This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps. We consider this ability to be crucial to legged locomotion and a useful, yet not overly restrictive criterion for stability. In this part (Part 1), we(More)
Operating a high degree of freedom mobile manipulator, such as a humanoid, in a field scenario requires constant situational awareness, capable perception modules, and effective mechanisms for interactive motion planning and control. A well-designed operator interface presents the operator with enough context to quickly carry out a mission and the(More)