5 papers · 1 filter
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
Duncan William Calvert
Humanoid robots could take on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion,…
Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
Luigi Penco, Beomyeong Park, Stefan Fasano +7
Achieving seamless synchronization between user and robot motion in teleoperation, particularly during high-speed tasks, remains a significant challenge. In this work, we propose a…
A Behavior Architecture for Fast Humanoid Robot Door Traversals
Duncan Calvert, Luigi Penco, Dexton Anderson +6
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focu…
Mixed Reality Teleoperation Assistance for Direct Control of Humanoids
Luigi Penco, Kazuhiko Momose, Stephen McCrory +4
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of i…
High-Speed and Impact Resilient Teleoperation of Humanoid Robots
Sylvain Bertrand, Luigi Penco, Dexton Anderson +17
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper pres…