83 citations · 236 across the 13 of their papers we have counts for
14 papers · 1 filter
Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles
Duncan Calvert, Dexton Anderson, Tomasz Bialek +4
Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and co…
Generating Humanoid Multi-Contact through Feasibility Visualization
Stephen McCrory, Sylvain Bertrand, Achintya Mohan +3
We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for mo…
Teleoperation of Humanoid Robots: A Survey
Kourosh Darvish, Luigi Penco, Joao Ramos +5
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational v…
Integrable Whole-body Orientation Coordinates for Legged Robots
Yu-Ming Chen, Gabriel Nelson, Robert Griffin +2
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation}…
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions
Duncan Calvert, Bhavyansh Mishra, Stephen McCrory +3
In trying to build humanoid robots that perform useful tasks in a world built for humans, we address the problem of autonomous locomotion. Humanoid robot planning and control algor…
Humanoid Path Planning over Rough Terrain using Traversability Assessment
Stephen McCrory, Bhavyansh Mishra, Jaehoon An +3
We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a…
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin +3
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its b…
0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum
Gabriel Garcia, Robert Griffin, Jerry Pratt
One common method for stabilizing robots after a push is the Instantaneous Capture Point, however, this has the fundamental limitation of assuming constant height. Although there a…
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand +19
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evalu…
Footstep Planning for Autonomous Walking Over Rough Terrain
Robert J. Griffin, Georg Wiedebach, Stephen McCrory +3
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possib…
Straight-Leg Walking Through Underconstrained Whole-Body Control
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
We present an approach for achieving a natural, efficient gait on bipedal robots using straightened legs and toe-off. Our algorithm avoids complex height planning by allowing a who…
Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization
Robert J. Griffin, Sylvain Bertrand, Georg Wiedebach +2
Traditional force-controlled bipedal walking utilizes highly bent knees, resulting in high torques as well as inefficient, and unnatural motions. Even with advanced planning of cen…
Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas
Robert J. Griffin, Georg Wiedebach, Sylvain Bertrand +2
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this lev…
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas
Georg Wiedebach, Sylvain Bertrand, Tingfan Wu +5
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of t…