2 papers
cs.RO2019
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies…
cs.RO2018
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti +1
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynami…