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09/05/2023
Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
We tackle the problem of developing humanoid loco-manipulation skills wi...
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03/02/2023
Learning Contact-based Navigation in Crowds
Navigation strategies that intentionally incorporate contact with humans...
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10/13/2022
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Model generalization of the underlying dynamics is critical for achievin...
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10/03/2022
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
In this paper, we introduce the humanoid robot DRACO 3 by providing a hi...
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09/23/2022
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
This paper proposes a real-time model predictive control (MPC) scheme to...
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09/19/2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
We tackle the problem of perceptive locomotion in dynamic environments. ...
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03/02/2022
KC-TSS: An Algorithm for Heterogeneous Robot Teams Performing Resilient Target Search
This paper proposes KC-TSS: K-Clustered-Traveling Salesman Based Search,...
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02/24/2022
Data-Driven Safety Verification for Legged Robots
Planning safe motions for legged robots requires sophisticated safety ve...
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12/01/2021
A Barrier Pair Method for Safe Human-Robot Shared Autonomy
Shared autonomy provides a framework where a human and an automated syst...
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07/27/2021
Information-Theoretic Based Target Search with Multiple Agents
This paper proposes an online path planning and motion generation algori...
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11/20/2020
Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System
Model-based reinforcement learning (MBRL) algorithms can attain signific...
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10/15/2020
Task-Adaptive Robot Learning from Demonstration under Replication with Gaussian Process Models
Learning from Demonstration (LfD) is a paradigm that allows robots to le...
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09/25/2020
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
The natural impedance, or dynamic relationship between force and motion,...
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09/13/2020
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
This paper proposes an MPC-based controller to efficiently execute multi...
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09/05/2020
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
For a nonlinear system (e.g. a robot) with its continuous state space tr...
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02/23/2020
Gaussian-Process-based Robot Learning from Demonstration
Endowed with higher levels of autonomy, robots are required to perform i...
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12/14/2019
Active Object Tracking using Context Estimation: Handling Occlusions and Detecting Missing Targets
When performing visual servoing or object tracking tasks, active sensor ...
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10/02/2019
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
As part of a feasibility study, this paper shows the NASA Valkyrie human...
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09/19/2019
Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold
We present a method that finds locomanipulation plans that perform simul...
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09/14/2019
Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report
RoboCup@Home is an international robotics competition based on domestic ...
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06/10/2019
Data Efficient and Safe Learning for Locomotion via Simplified Model
In this letter, we formulate a novel Markov Decision Process (MDP) for d...
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06/10/2019
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
This paper describes the control, and evaluation of a new human-scaled b...
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03/26/2019
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
In this work, we propose a trajectory generation method for robotic syst...
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03/22/2019
Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs
Exoskeletons which amplify the strength of their operators can enable he...
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03/04/2019
Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions
With the primary objective of human-robot interaction being to support h...
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03/02/2019
Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
Human joint dynamic stiffness plays an important role in the stability o...
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02/25/2019
A Versatile Framework for Robust and Adaptive Door Operation with a Mobile Manipulator Robot
The ability to deal with articulated objects is very important for robot...
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02/01/2019
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
The problem of finding thermally minimizing configurations of a humanoid...
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12/04/2018
Robot Economy: Ready or Not, Here It Comes
Automation is not a new phenomenon, and questions about its effects have...
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11/27/2018
Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation
Robotic systems are increasingly relying on distributed feedback control...
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11/11/2018
Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
Contact-based decision and planning methods are becoming increasingly im...
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11/08/2018
LAAIR: A Layered Architecture for Autonomous Interactive Robots
When developing general purpose robots, the overarching software archite...
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09/27/2018
Trajectory Generation for Robotic Systems with Contact Force Constraints
This paper presents a trajectory generation method for contact-constrain...
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09/24/2018
An Architecture for Person-Following using Active Target Search
This paper addresses a novel architecture for person-following robots us...
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09/24/2018
Social Navigation Planning Based on People's Awareness of Robots
When mobile robots maneuver near people, they run the risk of rudely blo...
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09/24/2018
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
Existing gaze controllers for head-eye robots can only handle single fix...
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07/09/2018
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
We present a sampling-based kinodynamic planning framework for a bipedal...
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07/03/2018
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
In this paper, we devise methods for the multi- objective control of hum...
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03/29/2018
Decentralized Control Systems Laboratory Using Human-Centered Robotic Actuators
University laboratories deliver unique hands-on experimentation for STEM...
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03/05/2018
On Blocking Collisions between People, Objects and other Robots
Intentional or unintentional contacts are bound to occur increasingly mo...
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02/27/2018
Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming
Series elastic robots are best able to follow trajectories which obey th...
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09/22/2011