3 citations · 5 across the 5 of their papers we have counts for
5 papers
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
Existing gaze controllers for head-eye robots can only handle single fixation points. Here, a generic controller for head-eye robots capable of executing simultaneous and prioritiz…
Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
Junhyeok Ahn, Orion Campbell, Donghyun Kim +1
We present a sampling-based kinodynamic planning framework for a bipedal robot in complex environments. Unlike other footstep planner which typically plan footstep locations and th…
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
Donghyun Kim, Jaemin Lee, Orion Campbell +2
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algo…
Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators
Donghyun Kim, Junhyeok Ahn, Orion Campbell +2
We design, build, and thoroughly test a new type of actuator dubbed viscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAs excel in the following five critical…
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems
Steven Jens Jorgensen, Orion Campbell, Travis Llado +3
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control p…