3 papers
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
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…
cs.RO2024
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…