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cs.RO2026
LAC: Linear and Angular Compliance for Humanoid Whole-body Control
Yang Liu, Zhongkai Gu, Wei Zhu +1
Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either reject external forces as disturbances or restrict compliance to limi…
cs.RO2025
Simultaneous estimation of contact position and tool shape with high-dimensional parameters using force measurements and particle filtering
Kyo Kutsuzawa, Mitsuhiro Hayashibe
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuab…
cs.RO2025
Language-Guided Long Horizon Manipulation with LLM-based Planning and Visual Perception
Changshi Zhou, Haichuan Xu, Ningquan Gu +7
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-l…