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View article: Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation
Wheeled Humanoid Bilateral Teleoperation with Position-Force Control Modes for Dynamic Loco-Manipulation Open
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic Loco-Manipulati…
View article: Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation
Toward Control of Wheeled Humanoid Robots with Unknown Payloads: Equilibrium Point Estimation via Real-to-Sim Adaptation Open
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 load and ease of stability analysis. However, controlling a wh…
View article: Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming
Control- & Task-Aware Optimal Design of Actuation System for Legged Robots using Binary Integer Linear Programming Open
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design c…
View article: Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation Open
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts. P…
View article: Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion Open
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot a…
View article: Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots Open
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces and also mitigating impacts that may occur during the motion. Towards creating capabl…
View article: Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots
Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots Open
To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the …
View article: The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots
The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots Open
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged rob…
View article: The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots
The dynamic effect of mechanical losses of actuators on the equations of motion of legged robots Open
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged rob…
View article: HOPPY: An open-source and low-cost kit for dynamic robotics education
HOPPY: An open-source and low-cost kit for dynamic robotics education Open
This letter introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit lowers the entry barrier for studying dynamic robots and…