5 papers · 1 filter
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
Donghoon Baek, Amartya Purushottam, Jason J. Choi +1
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation…
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
Amartya Purushottam, Jack Yan, Christopher Yu +1
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy obje…
Friction-Aware Safety Locomotion for Wheeled-legged Robots using Vision Language Models and Reinforcement Learning
Bo Peng, Donghoon Baek, Qijie Wang +1
Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can levera…
Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation
Donghoon Baek, Youngwoo Sim, Amartya Purushottam +2
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational loa…
Online Learning-Based Inertial Parameter Identification of Unknown Object for Model-Based Control of Wheeled Humanoids
Donghoon Baek, Bo Peng, Saurabh Gupta +1
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signa…