6 citations · 20 across the 18 of their papers we have counts for
18 papers
Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation
Amartya Purushottam, Jack Yan, Christopher Xu +2
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by hum…
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…
Dynamic Mobile Manipulation via Whole-Body Bilateral Teleoperation of a Wheeled Humanoid
Amartya Purushottam, Yeongtae Jung, Christopher Xu +1
Humanoid robots have the potential to help human workers by realizing physically demanding manipulation tasks such as moving large boxes within warehouses. We define such tasks as…
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…
Teleoperation of Humanoid Robots: A Survey
Kourosh Darvish, Luigi Penco, Joao Ramos +5
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational v…
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
Guillermo Colin, Youngwoo Sim, Joao Ramos
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solut…
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…
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Donghoon Baek, Amartya Purushottam, Joao Ramos
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controller…
Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation
Amartya Purushottam, Yeongtae Jung, Kevin Murphy +2
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could l…
A Large Force Haptic Interface with Modular Linear Actuators
Yeongtae Jung, Joao Ramos
This paper presents a haptic interface with modular linear actuators which can address limitations of conventional devices based on rotatory joints. The proposed haptic interface i…
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
Youngwoo Sim, Joao Ramos
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their li…
Dynamic Locomotion Teleoperation of a Wheeled Humanoid Robot Reduced Model with a Whole-Body Human-Machine Interface
Sunyu Wang, Joao Ramos
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physicall…
The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots
Youngwoo Sim, Joao Ramos
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position contr…
HOPPY: An Open-source Kit for Education with Dynamic Legged Robots
Joao Ramos, Yanran Ding, Young-woo Sim +2
This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The ki…
A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests
Sunyu Wang, Kevin Murphy, Dillan Kenney +1
Teleoperation (i.e., controlling a robot with human motion) proves promising in enabling a humanoid robot to move as dynamically as a human. But how to map human motion to a humano…
The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots
Young-woo Sim, Joao Ramos
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position contr…
HOPPY: An open-source and low-cost kit for dynamic robotics education
Joao Ramos, Yanran Ding, Young-woo Sim +2
This letter introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The k…