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cs.RO2024
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…
cs.RO2024
Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation
Donghoon Baek, Youngwoo Sim, Amartya Purushottam +2
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational loa…