1 citations · 2 across the 9 of their papers we have counts for
10 papers
Inertially Significant Humanoid Teleoperation via Whole Body Model Predictive Control and Online Parameter Estimation
James Foster, Beomyeong Park, Luigi Penco +1
The effective deployment of humanoid robots in practical tasks of interest will require a capability of sensing and adapting to variations in inertial parameters, as occurs during…
Embedding Classical Balance Control Principles in Reinforcement Learning for Humanoid Recovery
Nehar Poddar, Stephen McCrory, Luigi Penco +3
Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonst…
Stability-Aware Retargeting for Humanoid Multi-Contact Teleoperation
Stephen McCrory, Romeo Orsolino, Dhruv Thanki +2
Teleoperation is a powerful method to generate reference motions and enable humanoid robots to perform a broad range of tasks. However, teleoperation becomes challenging when using…
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…
Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles
Duncan Calvert, Dexton Anderson, Tomasz Bialek +4
Humanoid robots have the potential to perform useful tasks in a world built for humans. However, communicating intention and teaming with a humanoid robot is a multi-faceted and co…
Teleoperation of Humanoid Robots: A Survey
Kourosh Darvish, Luigi Penco, Joao Ramos +5
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational v…
Prescient teleoperation of humanoid robots
Luigi Penco, Jean-Baptiste Mouret, Serena Ivaldi
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an op…