13 citations · 32 across the 15 of their papers we have counts for
11 papers · 1 filter
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand +19
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evalu…
Adaptive Compliance Shaping with Human Impedance Estimation
Huang Huang, Henry F. Cappel, Gray C. Thomas +2
Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few a…
Robust Estimator-Based Safety Verification: A Vector Norm Approach
Binghan He, Gray C. Thomas, Luis Sentis
In this paper, we consider the problem of verifying safety constraint satisfaction for single-input single-output systems with uncertain transfer function coefficients. We propose…
Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold
Steven Jens Jorgensen, Mihir Vedantam, Ryan Gupta +2
We present a method that finds locomanipulation plans that perform simultaneous locomotion and manipulation of objects for a desired end-effector trajectory. Key to our approach is…
Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report
Rishi Shah, Yuqian Jiang, Haresh Karnan +8
RoboCup@Home is an international robotics competition based on domestic tasks requiring autonomous capabilities pertaining to a large variety of AI technologies. Research challenge…
Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model
Junhyeok Ahn, Jaemin Lee, Luis Sentis
In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous…