7 citations · 7 across the 4 of their papers we have counts for
4 papers
A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots
Daniel Marew, Nisal Perera, Shangqun Yu +2
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs…
Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
Shangqun Yu, Nisal Perera, Daniel Marew +1
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learnin…
StaccaToe: A Single-Leg Robot that Mimics the Human Leg and Toe
Nisal Perera, Shangqun Yu, Daniel Marew +6
We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe…
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion
Daniel Marew, Misha Lvovsky, Shangqun Yu +2
In this paper, we present a Riemannian Motion Policy (RMP)flow-based whole-body control framework for improved dynamic legged locomotion. RMPflow is a differential geometry-inspire…