2 papers
cs.RO2026
Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads
Manh Cuong Nguyen, Duc Cuong Vu, Viet Anh Vu +5
Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-…
cs.RO2026
Real-Time Conformal-Seeded Hybrid Inverse Kinematics for Offset Redundant Manipulators
Duc Cuong Vu, Van Tung Nguyen, Duc Hai Nguyen +3
This paper presents a conformal-seeded hybrid strategy for solving inverse kinematics of offset, redundant 7-DoF robot arms of the humanoid class. Analytical inverse kinematics (AI…