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08/18/2023
Robust Quadrupedal Locomotion via Risk-Averse Policy Learning
The robustness of legged locomotion is crucial for quadrupedal robots in...
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12/20/2021
Prioritized Hierarchical Compliance Control for Dual-Arm Robot Stable Clamping
When a dual-arm robot clamps a rigid object in an environment for human ...
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09/16/2021
Mixed Control for Whole-Body Compliance of a Humanoid Robot
The hierarchical quadratic programming (HQP) is commonly applied to cons...
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09/15/2021
Recursive Hierarchical Projection for Whole-Body Control with Task Priority Transition
Redundant robots are desired to execute multitasks with different priori...
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09/15/2021
Whole-Body Control with Motion/Force Transmissibility for Parallel-Legged Robot
Whole-body control (WBC) has been applied to the locomotion of legged ro...
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08/09/2021
Dynamic Balancing of Humanoid Robot Walker3 with Proprioceptive Actuation: Systematic Design of Algorithm, Software and Hardware
Dynamic balancing under uncertain disturbances is important for a humano...
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02/08/2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
The planning of whole-body motion and step time for bipedal locomotion i...
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06/05/2020