2 citations · 2 across the 3 of their papers we have counts for
3 papers · 1 filter
Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation
Stephen McCrory, Romeo Orsolino, Dhruv Thanki +2
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using…
Overtaking Moving Obstacles with Digit: Path Following for Bipedal Robots via Model Predictive Contouring Control
Kunal S. Narkhede, Dhruv A. Thanki, Abhijeet M. Kulkarni +1
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the s…
A Sequential MPC Approach to Reactive Planning for Bipedal Robots
Kunal Sanjay Narkhede, Abhijeet Mangesh Kulkarni, Dhruv Ashwinkumar Thanki +1
This paper presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in dynamic environments. The approach relies on a sequential…