1 citations · 1 across the 5 of their papers we have counts for
5 papers
Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
Carlos Gonzalez, Luis Sentis
Humanoid locomotion in highly confined environments requires navigating dense environmental obstacles and complex self-collision bounds while maintaining multi-contact dynamic feas…
Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization
Carlos Gonzalez, Luis Sentis
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-c…
RPC: A Modular Framework for Robot Planning, Control, and Deployment
Seung Hyeon Bang, Carlos Gonzalez, Gabriel Moore +3
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debuggi…
Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
Seung Hyeon Bang, Jaemin Lee, Carlos Gonzalez +1
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assu…
Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
Mingyo Seo, Steve Han, Kyutae Sim +4
We tackle the problem of developing humanoid loco-manipulation skills with deep imitation learning. The difficulty of collecting task demonstrations and training policies for human…