3 papers
cs.RO2026
Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions
Kwanwoo Lee, Sanghyuk Park, Gyeongjae Park +2
Safety-critical control is essential for humanoid robots operating in complex human-centered environments, where physical safety constraints such as joint limits, self-collision av…
cs.RO2025
A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies
Myeong-Ju Kim, Daegyu Lim, Gyeongjae Park +2
The robust balancing capability of humanoids is essential for mobility in real environments. Many studies focus on implementing human-inspired ankle, hip, and stepping strategies t…
cs.RO2025
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation
Daegyu Lim, Myeong-Ju Kim, Junhyeok Cha +1
Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance o…