2 citations · 4 across the 8 of their papers we have counts for
8 papers
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
Donghoon Baek, Amartya Purushottam, Jason J. Choi +1
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation…
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
Amartya Purushottam, Jack Yan, Christopher Yu +1
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy obje…
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…
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…
A Robust Localization Solution for an Uncrewed Ground Vehicle in Unstructured Outdoor GNSS-Denied Environments
W. Jacob Wagner, Isaac Blankenau, Maribel DeLaTorre +2
This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellit…
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…
Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Donghoon Baek, Amartya Purushottam, Joao Ramos
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controller…
Hands-free Telelocomotion of a Wheeled Humanoid toward Dynamic Mobile Manipulation via Teleoperation
Amartya Purushottam, Yeongtae Jung, Kevin Murphy +2
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could l…