5 papers
On Swarm Leader Identification using Probing Policies
Stergios E. Bachoumas, Panagiotis Artemiadis
Identifying the leader within a robotic swarm is crucial, especially in adversarial contexts where leader concealment is necessary for mission success. This work introduces the int…
Efficient and Compliant Control Framework for Versatile Human-Humanoid Collaborative Transportation
Shubham S. Kumbhar, Abhijeet M. Kulkarni, Panagiotis Artemiadis
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotati…
Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next
Gustavo A. Cardona, Shubham S. Kumbhar, Panagiotis Artemiadis
Physical Human-Humanoid Interaction (pHHI) is a rapidly advancing field with significant implications for deploying robots in unstructured, human-centric environments. In this revi…
Ground Compliance Improves Retention of Visual Feedback-Based Propulsion Training for Gait Rehabilitation
Bradley Hobbs, Panagiotis Artemiadis
This study investigates whether adding ground compliance to visual feedback (VF) gait training is more effective at increasing push-off force (POF) compared to using VF alone, with…
Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement
Chrysostomos Karakasis, Camryn Scully, Robert Salati +1
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle-…