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09/18/2023
Learning Inertial Parameter Identification of Unknown Object with Humanoid Robot using Sim-to-Real Adaptation
Understanding the dynamics of unknown object is crucial for collaborativ...
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07/21/2023
Control- Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming
Athletic robots demand a whole-body actuation system design that utilize...
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07/20/2023
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation
Teleoperated humanoid robots hold significant potential as physical avat...
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07/03/2023
Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid
Humanoid robots have the potential to help human workers by realizing ph...
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04/06/2023
Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload
This paper presents the design and control of a ballbot drivetrain that ...
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01/11/2023
Teleoperation of Humanoid Robots: A Survey
Teleoperation of humanoid robots enables the integration of the cognitiv...
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09/14/2022
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
For humanoids to be deployed in demanding situations, such as search and...
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09/08/2022
A Study of Shared-Control with Force Feedback for Obstacle Avoidance in Whole-body Telelocomotion of a Wheeled Humanoid
Teleoperation has emerged as an alternative solution to fully-autonomous...
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04/07/2022
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Control of wheeled humanoid locomotion is a challenging problem due to t...
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03/07/2022
Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation
Robotic systems that can dynamically combine manipulation and locomotion...
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03/07/2022
A Large Force Haptic Interface with Modular Linear Actuators
This paper presents a haptic interface with modular linear actuators whi...
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03/01/2022
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
To be useful tools in real scenarios, humanoid robots must realize tasks...
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09/08/2021
Dynamic Locomotion Teleoperation of a Wheeled Humanoid Robot Reduced Model with a Whole-Body Human-Machine Interface
Bilateral teleoperation provides humanoid robots with human planning int...
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06/03/2021
The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots
Industrial manipulators do not collapse under their own weight when powe...
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03/15/2021
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots
This paper introduces HOPPY, an open-source, low-cost, robust, and modul...
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11/04/2020
A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests
Teleoperation (i.e., controlling a robot with human motion) proves promi...
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11/04/2020
The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots
Industrial manipulators do not collapse under their own weight when powe...
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10/27/2020