24 citations · 72 across the 9 of their papers we have counts for
9 papers
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…
Optimization of Workload Mapping and Scheduling in Scaling Heterogeneous HPC Systems: A Systematic Literature Review
Aasish Kumar Sharma, Julian Kunkel
The increasing heterogeneity of High-Performance Computing (HPC) systems, incorporating Central Processing Units (CPUs), Graphics Processing Units (GPUs), Field-Programmable Gate A…
Impact-Aware Multi-Contact Balance Criteria
Yuquan Wang, Arnaud Tanguy, Abderrahmane Kheddar
Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intent…
Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM
Yang Chen, Leyuan Sun, Mehdi Benallegue +8
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's an…
Humanoid Control Under Interchangeable Fixed and Sliding Unilateral Contacts
Saeid Samadi, Julien Roux, Arnaud Tanguy +2
In this letter, we propose a whole-body control strategy for humanoid robots in multi-contact settings that enables switching between fixed and sliding contacts under active balanc…
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy +2
We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on…
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang, Niels Dehio, Arnaud Tanguy +1
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet +1
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically o…
Balance of Humanoid robot in Multi-contact and Sliding Scenarios
Saeid Samadi, Stéphane Caron, Arnaud Tanguy +1
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One me…