For humanoid robots to be used in real world scenarios, there is a need of robust and simple walking controllers. Limitation to flat terrain is a drawback of many walking controllers. We overcome this limitation by extending the concept of Divergent Component of Motion (DCM, also called ‘Capture Point’) to 3D. Therefor, we introduce the “Enhanced Centroidal Moment Pivot point” (eCMP) and the “V...

Developments for 3D control of the center of mass (CoM) of biped robots are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex direct transcriptions of centroidal dynamics that are delicate to handle. This paper presents an alternative that controls the CoM in 3D via an indirect tr...

In this paper, some current issues of Delaunay mesh generation and optimization are addressed, with particular emphasis on the robustness of the meshing procedure and the quality of the resulting mesh. We also report new progress on the robust conforming and constrained boundary recovery in three dimensions, along with the quality mesh generation based on Centroidal Voronoi tessellations. Appli...

This article presents a planner to generate walking trajectories by using the centroidal dynamics and full kinematics of humanoid robot. The interaction between robot surface is modeled explicitly via new conditions, dynamic complementarity conditions . approach does not require predefined cont...

We propose two new strategies based on Machine Learning techniques to handle polyhedral grid refinement, be possibly employed within an adaptive framework. The first one employs the k-means clustering algorithm partition points of polyhedron refined. This strategy is a variation well known Centroidal Voronoi Tessellation. second Convolutional Neural Networks classify "shape" element so that "ad...

Standing-up is a task that humanoids need to be able perform in order employed real-world scenarios. This paper proposes new robust strategy for humanoid stand up challenging scenarios where no completely preplanned motion can accomplish the same task. exploits concept of three-dimensional divergent component and passivity-based whole-body control. The latter firstly maximizes push forces appli...

Summary The performance of adaptive estimators that employ embedding in reproducing kernel Hilbert spaces (RKHS) depends on the choice location basis centers. Parameter convergence and error approximation rates depend where how centers are distributed state‐space. In this article, we develop theory relates parameter to position We criteria for choosing a specific class systems by exploiting fac...

Centroidal Voronoi tessellations (CVTs) have become a useful tool in many applications ranging from geometric modeling, image and data analysis, and numerical partial differential equations, to problems in physics, astrophysics, chemistry, and biology. In this paper, we briefly review the CVT concept and a few of its generalizations and well-known properties. We then present an overview of rece...

This paper summarizes the theoretical background that is used in several applications listed in the sibling conference paper [1]. We investigate object simplification methods based on Centroidal Voronoi Tesselation (CVT) that share the possibility of great speed-ups in various scenarios. We propose Constrained CVT to sample points from the object boundary and the Region-based CVT to be able to ...