136 citations · 170 across the 9 of their papers we have counts for
9 papers
Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
Steven Jens Jorgensen, Ravi Bhadeshiya
We present an approach for retartgeting off-the-shelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Ke…
The Robustness of Tether Friction in Non-idealized Terrains
Justin J. Page, Laura K. Treers, Steven Jens Jorgensen +2
Reduced traction limits the ability of mobile robotic systems to resist or apply large external loads, such as tugging a massive payload. One simple and versatile solution is to wr…
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…
Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold
Steven Jens Jorgensen, Mihir Vedantam, Ryan Gupta +2
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is…
Thermal Recovery of Multi-Limbed Robots with Electric Actuators
Steven Jens Jorgensen, James Holley, Frank Mathis +2
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-…
Dynamic Locomotion For Passive-Ankle Biped Robots And Humanoids Using Whole-Body Locomotion Control
D. Kim, S. Jorgensen, J. Lee +3
Whole-body control (WBC) is a generic task-oriented control method for feedback control of loco-manipulation behaviors in humanoid robots. The combination of WBC and model-based wa…
Social Navigation Planning Based on People's Awareness of Robots
Minkyu Kim, Jaemin Lee, Steven Jens Jorgensen +1
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot…
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
Existing gaze controllers for head-eye robots can only handle single fixation points. Here, a generic controller for head-eye robots capable of executing simultaneous and prioritiz…
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control p…