5 papers
A Compositional Perspective on Communication-Control Co-Design for Mobile Broadband Systems Beyond 6G
Angelo Vera-Rivera, Atefeh Termehchi, Ekram Hossain
Anticipated applications of beyond sixth-generation (B6G) mobile broadband networks will require the co-design of communication and control subsystems within the network architectu…
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…
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…
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation
James Foster, Stephen McCrory, Christian DeBuys +2
The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated…
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts
Stefan Fasano, James Foster, Sylvain Bertrand +2
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world hu…