Maintaining the stability of bipedal walking remains a major challenge in humanoid robotics, primarily due to the large number of hyperparameters involved and the need to adapt to dynamic environments and external disturbances. Traditional methods for determining these hyperparameters, such as heuristic approaches, are often time- consuming and potentially suboptimal. In this thesis, we present an integrated approach combining advanced control and reinforcement learning techniques to improve the stability of bipedal walking, particularly in the face of ground disturbances and speed variations. Our main contribution lies in the integration of two complementary approaches: (1) an intrinsically stable model predictive control (IS-MPC) combined with whole-body admittance control, and (2) a reinforcement learning module implemented in the mc_rtc framework. This system allows for continuous mo...

This article shows the application made in Android that enables the registration of the data obtained by serial communication from any embedded system, as well as the testing of the inputs and outputs in a portable device equipped with the Android operating system. To achieve this, the Ohwada libraries were used as reference, modified so that the register option in the SD memory of the mobile device was available from the moment the start button is pressed until the moment the stop button is pressed. The way of showing the acquired values by serial in a single console was also modified, along with some configurations parameters in the transmission of data.  

This article shows the application made in Android that enables the registration of the data obtained by serial communication from any embedded system, as well as the testing of the inputs and outputs in a portable device equipped with the Android operating system. To achieve this, the Ohwada libraries were used as reference, modified so that the register option in the SD memory of the mobile device was available from the moment the start button is pressed until the moment the stop button is pressed. The way of showing the acquired values by serial in a single console was also modified, along with some configurations parameters in the transmission of data.