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08/13/2023
Impact-Aware Multi-Contact Balance Criteria
Intentionally applying impacts while maintaining balance is challenging ...
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07/27/2023
Robust Task-Space Quadratic Programming for Kinematic-Controlled Robots
Task-space quadratic programming (QP) is an elegant approach for control...
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03/08/2023
The hierarchical Newton's method for numerically stable prioritized dynamic control
This work links optimization approaches from hierarchical least-squares ...
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02/23/2023
Sequential Hierarchical Least-Squares Programming for Prioritized Non-Linear Optimal Control
We present a sequential hierarchical least-squares programming solver wi...
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11/03/2022
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
In immersive humanoid robot teleoperation, there are three main shortcom...
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06/18/2022
Human-Robot Handovers using Task-Space Quadratic Programming
Bidirectional object handover between a human and a robot enables an imp...
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02/25/2022
Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator
In order to enable on-purpose robotic impact tasks, predicting joint-vel...
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11/30/2021
Material Classification Using Active Temperature Controllable Robotic Gripper
Recognition techniques allow robots to make proper planning and control ...
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10/21/2021
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts
Enforcing balance of multi-limbed robots in multiple non-coplanar unilat...
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09/10/2021
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts
We revisit the impact with zero tangential contact velocities caused by ...
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03/04/2021
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
In this letter, we propose a whole-body control strategy for humanoid ro...
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10/09/2020
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
We present an open-source software interface, called mc_naoqi, that allo...
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06/03/2020
Impact-Aware Task-Space Quadratic-Programming Control
Generating on-purpose impacts with rigid robots is challenging as they m...
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05/05/2020
Detection of Human Contact by Thermal Exchange Observer of Robot Skin
Physical human-robot interaction (pHRI) enables to achieve various assis...
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01/23/2020
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-ob...
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09/30/2019
Balance of Humanoid robot in Multi-contact and Sliding Scenarios
This study deals with the balance of humanoid or multi-legged robots in ...
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09/19/2018
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
This paper considers dynamic stair climbing with the HRP-4 humanoid robo...
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04/03/2008