7 papers
SOMA: Stack-of-Objects Manipulation using a Quadruped Robot
Stergios E. Bachoumas, Panagiotis Artemiadis
Executing heavy-duty physical manipulation in unpredictable environments remains a major challenge for quadrupedal robots lacking dedicated manipulators. This paper presents SOMA,…
LiDAR-based Humanoid Navigation in Dynamic, Non-Convex Environments via Spatio-Temporal Safe Corridors
Shubham S. Kumbhar, Panagiotis Artemiadis
Navigating humanoid robots through dynamic, non-convex environments requires tightly coupling onboard perception with footstep planning and dynamic locomotion control. Existing met…
On Swarm Leader Identification using Probing Policies
Stergios E. Bachoumas, Panagiotis Artemiadis
Identifying the leader within a robotic swarm is crucial, especially in adversarial contexts where leader concealment is necessary for mission success. This work introduces the int…
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation
Shubham S. Kumbhar, Abhijeet M. Kulkarni, Panagiotis Artemiadis
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotati…
Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next
Gustavo A. Cardona, Shubham S. Kumbhar, Panagiotis Artemiadis
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this revi…
Ground Compliance Improves Retention of Visual Feedback-Based Propulsion Training for Gait Rehabilitation
Bradley Hobbs, Panagiotis Artemiadis
This study investigates whether adding ground compliance to visual feedback (VF) gait training is more effective at increasing push-off force (POF) compared to using VF alone, with…
Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement
Chrysostomos Karakasis, Camryn Scully, Robert Salati +1
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-…