3 papers
cs.RO2024
Collaborative Robot Arm Inserting Nasopharyngeal Swabs with Admittance Control
Peter Q. Lee, John S. Zelek, Katja Mombaur
The nasopharyngeal (NP) swab sample test, commonly used to detect COVID-19 and other respiratory illnesses, involves moving a swab through the nasal cavity to collect samples from…
cs.RO2024
Learning Velocity-based Humanoid Locomotion: Massively Parallel Learning with Brax and MJX
William Thibault, William Melek, Katja Mombaur
Humanoid locomotion is a key skill to bring humanoids out of the lab and into the real-world. Many motion generation methods for locomotion have been proposed including reinforceme…
cs.RO2023
Estimating speaker direction on a humanoid robot with binaural acoustic signals
Pranav Barot, Katja Mombaur, Ewen MacDonald
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize t…