4 papers
Online Adaptation to Latent Physical Properties for Learning from Demonstration
Kotaro Kajitsuka, Masaki Murooka, Fumio Kanehiro
Manipulating visually identical objects with different physical properties requires adapting actions based on information acquired through interaction. We address the problem of le…
Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa +1
To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This…
Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context
Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard +15
This paper describes RHP Friends, a social humanoid robot developed to enable assistive robotic deployments in human-coexisting environments. As a use-case application, we present…
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue +5
This paper presents the Kinetics Observer, a novel proprioceptive state estimator for legged robots designed to provide the feedback required for versatile locomotion and physical…