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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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04/25/2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Performing large step-ups is a challenging task for a humanoid robot. It...
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07/19/2019
Footstep Planning for Autonomous Walking Over Rough Terrain
To increase the speed of operation and reduce operator burden, humanoid ...
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06/15/2019
Exploiting Physical Contacts for Robustness Improvement of a Dot-Painting Mission by a Micro Air Vehicle
In this paper we address the problem of dot painting on a wall by a quad...
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09/19/2017