6 citations · 20 across the 18 of their papers we have counts for
5 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…
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…