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07/24/2023
Authoring and Operating Humanoid Behaviors On the Fly using Coactive Design Principles
Humanoid robots have the potential to perform useful tasks in a world bu...
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07/22/2023
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery
For humanoid robots to live up to their potential utility, they must be ...
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03/14/2023
A Virtual-Reality Driven Approach for Generating Humanoid Multi-Contact Trajectories
We present a virtual reality (VR) framework designed to intuitively gene...
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09/12/2022
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling
Legged robot locomotion is a challenging task due to a myriad of sub-pro...
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07/17/2022
A Fast, Autonomous, Bipedal Walking Behavior over Rapid Regions
In trying to build humanoid robots that perform useful tasks in a world ...
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03/01/2022
Humanoid Path Planning over Rough Terrain using Traversability Assessment
We present a planning framework designed for humanoid navigation over ch...
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12/12/2019
0-Step Capturability, Motion Decomposition and Global Feedback Control of the 3D Variable Height-Inverted Pendulum
One common method for stabilizing robots after a push is the Instantaneo...
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10/02/2019