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cs.RO2026
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.…
cs.RO2025
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel +8
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant appr…
cs.RO2025
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…