Walk‐man: A high‐performance humanoid platform for realistic environments
In this work, we present WALK‐MAN, a humanoid platform that has been developed to
operate in realistic unstructured environment, and demonstrate new skills including powerful …
operate in realistic unstructured environment, and demonstrate new skills including powerful …
Valkyrie: Nasa's first bipedal humanoid robot
NA Radford, P Strawser, K Hambuchen… - Journal of Field …, 2015 - Wiley Online Library
In December 2013, 16 teams from around the world gathered at Homestead Speedway near
Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive …
Miami, FL to participate in the DARPA Robotics Challenge (DRC) Trials, an aggressive …
Keep rollin'—whole-body motion control and planning for wheeled quadrupedal robots
M Bjelonic, CD Bellicoso, Y de Viragh… - IEEE Robotics and …, 2019 - ieeexplore.ieee.org
We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the
advantages of both walking and driving. The developed optimization framework tightly …
advantages of both walking and driving. The developed optimization framework tightly …
Actuator control for the NASA‐JSC valkyrie humanoid robot: A decoupled dynamics approach for torque control of series elastic robots
N Paine, JS Mehling, J Holley, NA Radford… - Journal of field …, 2015 - Wiley Online Library
This paper discusses the actuator‐level control of Valkyrie, a new humanoid robot designed
by NASA's Johnson Space Center in collaboration with several external partners. Several …
by NASA's Johnson Space Center in collaboration with several external partners. Several …
A survey of wheeled-legged robots
The community in legged robotics focuses on bio-inspired robots, although there are some
human inventions that nature could not recreate. One of the most significant examples is the …
human inventions that nature could not recreate. One of the most significant examples is the …
Prioritized multi-task compliance control of redundant manipulators
We propose a new approach for dynamic control of redundant manipulators to deal with
multiple prioritized tasks at the same time by utilizing null space projection techniques. The …
multiple prioritized tasks at the same time by utilizing null space projection techniques. The …
Quadrupedal locomotion using hierarchical operational space control
This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …
Multi-contact vertical ladder climbing with an HRP-2 humanoid
We describe the research and the integration methods we developed to make the HRP-2
humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and …
humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and …
Computationally-robust and efficient prioritized whole-body controller with contact constraints
In this paper, we devise methods for the multiobjective control of humanoid robots, aka
prioritized whole-body controllers, that achieve efficiency and robustness in the algorithmic …
prioritized whole-body controllers, that achieve efficiency and robustness in the algorithmic …
Design of a series elastic humanoid for the DARPA Robotics Challenge
C Knabe, J Seminatore, J Webb… - 2015 IEEE-RAS 15th …, 2015 - ieeexplore.ieee.org
This paper describes the mechanical design of ESCHER, a series elastic humanoid
developed to compete in the DARPA Robotics Challenge (DRC). The design methodology …
developed to compete in the DARPA Robotics Challenge (DRC). The design methodology …