3 citations · 4 across the 2 of their papers we have counts for
4 papers · 1 filter
Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming
Youngwoo Sim, Guillermo Colin, Joao Ramos
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integr…
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation
Guillermo Colin, Joseph Byrnes, Youngwoo Sim +2
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence an…
Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload
Chenzhang Xiao, Mahshid Mansouri, David Lam +2
This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stabili…
A Study of Shared-Control with Force Feedback for Obstacle Avoidance in Whole-body Telelocomotion of a Wheeled Humanoid
DongHoon Baek, Yu Chen, Chang +1
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body co…