Combining multi-level real-time iterations of Nonlinear Model Predictive Control to realize squatting motions on Leo

Today’s humanoid robots are complex mechanical systems with many degrees of freedom that are built to achieve locomotion skills comparable to humans. In order to synthesize whole-body motions, real-tme capable direct methods of optimal control are a subject of contemporary research. To this end, Nonlinear Model Predictive Control is the method...

Affective Body Language of Humanoid Robots: Perception and Effects in Human Robot Interaction

Active Vision for Humanoid Robots

Human perception is an active process. By altering its viewpoint rather than passively observing surroundings and by operating on sequences of images rather than on a single frame, the human visual system has the ability to explore the most relevant information based on knowledge, therefore when growing up a human is able to develop cognitive...