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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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03/07/2023
Learning Bipedal Walking for Humanoids with Current Feedback
Recent advances in deep reinforcement learning (RL) based techniques com...
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09/01/2022
mc-mujoco: Simulating Articulated Robots with FSM Controllers in MuJoCo
For safe and reliable deployment of any robot controller on the real har...
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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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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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01/23/2020