4 papers
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
Donghoon Baek, Amartya Purushottam, Jason J. Choi +1
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation…
Heavy lifting tasks via haptic teleoperation of a wheeled humanoid
Amartya Purushottam, Jack Yan, Christopher Yu +1
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy obje…
Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation
Donghoon Baek, Youngwoo Sim, Amartya Purushottam +2
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational loa…
Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation
Amartya Purushottam, Jack Yan, Christopher Xu +2
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by hum…