Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …

This work introduces a framework for the Cartesian control of multi-legged, highly redundant
robots. The proposed framework allows the untrained user to perform complex motion tasks …

This paper proposes a real-time (RT) control architecture based on Xenomai, an RT
embedded Linux, to control a service robot along with non-real-time (NRT) robot operating …

We propose V2CNet, a new deep learning framework to automatically translate the
demonstration videos to commands that can be directly used in robotic applications. Our …

Humanoid robots are anticipated to work like humans in unstructured environments, and in
such cases, falling over is inevitable due to the inherent postural instabilities and external …

Contemporary humanoids are equipped with visual and LiDAR sensors that are effectively
utilized for Visual Odometry (VO) and LiDAR Odometry (LO). Unfortunately, such …

Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary
their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we …

This paper proposes a real-time embedded system for joint space control of omnidirectional
mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line …

In this paper, we present the integration of multiple components of a full-size humanoid robot
system, including control, planning, and perception methods for manipulation tasks. In …

In humanoid robotic platforms, classical inverse kinematics algorithms, based on L2-
regularization of joint velocities or accelerations, tends to engage the motion of all the …