136 citations · 170 across the 9 of their papers we have counts for
4 papers · 1 filter
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…