3 papers
cs.RO2024
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…
cs.RO2023
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…
cs.RO2023
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…