24 citations · 58 across the 15 of their papers we have counts for
4 papers · 1 filter
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control
Masaki Murooka, Kevin Chappellet, Arnaud Tanguy +5
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other tha…
Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning
Rohan P. Singh, Mitsuharu Morisawa, Mehdi Benallegue +2
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected de…
Demonstrating a Control Framework for Physical Human-Robot Interaction Toward Industrial Applications
Bastien Muraccioli, Mathieu Celerier, Mehdi Benallegue +1
Physical Human-Robot Interaction (pHRI) is critical for implementing Industry 5.0, which focuses on human-centric approaches. However, few studies explore the practical alignment o…
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard +15
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present…