4 papers
Inertially Significant Humanoid Teleoperation via Whole Body Model Predictive Control and Online Parameter Estimation
James Foster, Beomyeong Park, Luigi Penco +1
The effective deployment of humanoid robots in practical tasks of interest will require a capability of sensing and adapting to variations in inertial parameters, as occurs during…
Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation
James Foster, Stephen McCrory, Christian DeBuys +2
The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated…
Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts
Stefan Fasano, James Foster, Sylvain Bertrand +2
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world hu…
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery
Robert Griffin, James Foster, Stefan Fasano +2
For humanoid robots to live up to their potential utility, they must be able to robustly recover from instabilities. In this work, we propose a number of balance enhancements to en…