7 citations · 8 across the 10 of their papers we have counts for
13 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…
Reactive Humanoid Multi-Contact Using Learned Stability Models
Stephen McCrory, Beomyeong Park, Nicholas Kitchel +2
We present a planning and control approach to reactively use hand contacts to stabilize a humanoid in low stability scenarios, where only using feet contacts may result in a fall.…
A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots
Duncan Calvert, Luigi Penco, Dexton Anderson +4
There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces mus…
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Lizhi Yang, Junheng Li, Nehar Poddar +5
Humanoid loco-manipulation benefits from one controller to coordinate locomotion, arm movements, and fall recovery. These behaviors are difficult to learn together from scratch bec…
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…
Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
Zhaoyuan Gu, Junheng Li, Wenlan Shen +15
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine lear…
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…
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…
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
Sergi Martinez, Robert J. Griffin, Carlos Mastalli
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in…