37 citations · 203 across the 26 of their papers we have counts for
4 papers · 1 filter
Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
Anastasia Bolotnikova, Pierre Gergondet, Arnaud Tanguy +2
We present an open-source software interface, called mc_naoqi, that allows to perform whole-body task-space Quadratic Programming based control, implemented in mc_rtc framework, on…
Impact-Aware Task-Space Quadratic-Programming Control
Yuquan Wang, Niels Dehio, Arnaud Tanguy +1
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…
A Soft Robotic Cover with Dual Thermal Display and Sensing Capabilities
Yukiko Osawa, Abderrahmane Kheddar
We propose a new robotic cover prototype that achieves thermal display while also being soft. We focus on the thermal cue because previous human studies have identified it as part…
Impact-aware humanoid robot motion generation with a quadratic optimization controller
Yuquan Wang, Arnaud Tanguy, Pierre Gergondet +1
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically o…