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cs.RO2026
Brace Yourself: Task-Conditioned Environmental Bracing for Forceful Humanoid Manipulation
Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1
Forceful manipulation is challenging for humanoid robots because interaction forces can disturb whole-body balance. We introduce the Supporting Hand Strategy (SHS), which enables a…
cs.RO2026
Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
Zongyuan Zhang, Christopher Lehnert, Will N. Browne +1
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast,…