A significant amount of work is invested in human-machine teaming (HMT) across multiple
fields. Accurately and effectively measuring system performance of an HMT is crucial for …

One of the most impactful and exciting applications of robotic technology, especially
autonomous and semi-autonomous systems, is in the field of search and rescue. Robots …

This paper describes a humanoid robotics platform (DRC-HUBO+) developed for the
Defense Advanced Research Projects Agency Robotics Challenge (DRC) Finals. This paper …

Biological bipeds have long been thought to take advantage of compliance and passive
dynamics to walk and run, but realizing robotic locomotion in this fashion has been difficult in …

The deployment of robots to assist in environments hostile for humans during emergency
scenarios require robots to demonstrate enhanced physical performance, that includes …

This paper presents a new approach for fast collision detection in high dimensional
configuration spaces for Rapidly-exploring Random Trees (RRT) motion planning. The …

Door traversal is generally a trivial task for human beings but particularly challenging for
humanoid robots. This paper describes a holistic approach for a full-sized humanoid robot to …

Legged humanoid robots promise revolutionary mobility and effectiveness in environments
built for humans. However, inefficient use of energy significantly limits their practical …

This paper presents a 6 DOF leg mechanism for a humanoid robot. The proposed Hybrid
Leg is designed to combine serial and parallel mechanisms and consists of a pair of twin 3 …

The pursuit of constructing humanoid robots to replicate the anatomical structures and
capabilities of human beings has been a long‐standing significant undertaking and …