53 citations · 60 across the 6 of their papers we have counts for
5 papers · 1 filter
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
Charles Khazoom, Seungwoo Hong, Matthew Chignoli +2
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. Howev…
Design of a Multimodal Fingertip Sensor for Dynamic Manipulation
Andrew SaLoutos, Elijah Stanger-Jones, Menglong Guo +2
We introduce a spherical fingertip sensor for dynamic manipulation. It is based on barometric pressure and time-of-flight proximity sensors and is low-latency, compact, and physica…
Towards Robust Autonomous Grasping with Reflexes Using High-Bandwidth Sensing and Actuation
Andrew SaLoutos, Hongmin Kim, Elijah Stanger-Jones +2
Modern robotic manipulation systems fall short of human manipulation skills partly because they rely on closing feedback loops exclusively around vision data, which reduces system…
Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two ma…
The MIT Humanoid Robot: Design, Motion Planning, and Control For Acrobatic Behaviors
Matthew Chignoli, Donghyun Kim, Elijah Stanger-Jones +1
Demonstrating acrobatic behavior of a humanoid robot such as flips and spinning jumps requires systematic approaches across hardware design, motion planning, and control. In this p…