2 papers
cs.RO2021
Control of Humanoid in Multiple Fixed and Moving Unilateral Contacts
Julien Roux, Saeid Samadi, Eisoku Kuroiwa +2
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The fi…
cs.RO2021
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization
Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo +3
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leadi…