3 papers
cs.RO2026
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…
cs.RO2024
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…
cs.RO2024
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…