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Viewing Publication 1 - 100 from 2177

2023

Modularity in Humanoid Robot Design for Flexibility in System Structure and ApplicationSebastian Wolf 0001, Cynthia Hofmann, Thomas Bahls, Henry Maurenbrecher, Benedikt Pleintinger. humanoids 2023: 1-7 [doi]

From RGB images to Dynamic Movement Primitives for planar tasksAntonis Sidiropoulos 0002, Zoe Doulgeri. humanoids 2023: 1-8 [doi]

22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023IEEE, 2023. [doi]

Bipedal Walking on Constrained Footholds with MPC Footstep ControlBrian Acosta, Michael Posa. humanoids 2023: 1-8 [doi]

Integrating Multi-Demonstration Knowledge and Bounded Workspaces for Efficient Deep Reinforcement LearningAli Aflakian, Rustam Stolkin, Alireza Rastegarpanah. humanoids 2023: 1-8 [doi]

A Generic, Affordance-Constrained, Screw-Based Motion Planner for Contact Task ManipulationEmmanuel Akita, Farshid Alambeigi, Mitch Pryor. humanoids 2023: 1-8 [doi]

A Hierarchical Scheme for Adapting Learned Quadruped LocomotionMichel Aractingi, Pierre-Alexandre Léziart, Thomas Flayols, Julien Perez, Tomi Silander, Philippe Souères. humanoids 2023: 1-8 [doi]

Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrainsDespina Ekaterini Argiropoulos, Dimitrios Papageorgiou, Michael Maravgakis, Drosakis Drosakis, Panos E. Trahanias. humanoids 2023: 1-8 [doi]

An Audio-Video Sensor Fusion Framework To Augment Humanoid Capabilities For Identifying And Interacting With Human Conversational PartnersPranav Barot, Ewen N. MacDonald, Katja D. Mombaur. humanoids 2023: 1-8 [doi]

Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary ArchitecturesVirgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez. humanoids 2023: 1-7 [doi]

Human-Informed Robot Agility: Understanding Human Pushing Interactions for Skill Transfer to HumanoidsCornelia Bauer, Nancy S. Pollard. humanoids 2023: 1-8 [doi]

Real-Time Tendon Strain Estimation of Rotator-Cuff Muscles during Robotic-Assisted RehabilitationIrene Beck, Italo Belli, Luka Peternel, Ajay Seth, Joseph Micah Prendergast. humanoids 2023: 1-8 [doi]

Single Robot Multitasking Through Dynamic Resource AllocationTyler Becker, Song Jiang, David Feil-Seifer, Monica N. Nicolescu. humanoids 2023: 1-8 [doi]

Fast Dynamic Walking with RH5 Humanoid RobotIvan Bergonzani, Mihaela Popescu, Shivesh Kumar, Frank Kirchner. humanoids 2023: 1-8 [doi]

Task-Level Control and Poincaré Map-Based Sim-to-Real Transfer for Effective Command Following of Quadrupedal Trot GaitPranav A. Bhounsule, Daniel Torres, Ernesto Hernandez-Hinojosa, Adel Alaeddini. humanoids 2023: 1-8 [doi]

Human-Inspired Audiovisual Inducement of Whole-Body ResponsesSeongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis Figueredo, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin. humanoids 2023: 1-8 [doi]

Specifying Target Objects in Robot Teleoperation Using Speech and Natural Eye GazeYu-Chen Chang, Nitish Gandi, Kazuki Shin, Ye-Ji Mun, Katherine Driggs-Campbell, Joohyung Kim. humanoids 2023: 1-7 [doi]

A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot LocomotionFrancisco Javier Andrade Chavez, Vidyasagar Rajendran, Katja D. Mombaur. humanoids 2023: 1-8 [doi]

Learning Torque Control for Quadrupedal LocomotionShuxiao Chen, Bike Zhang, Mark W. Mueller, Akshara Rai, Koushil Sreenath. humanoids 2023: 1-8 [doi]

A Learning Framework for Human-Like Time Parameterization of Robot Manipulation PathsLipeng Chen, Xiangchi Chen, Wanchao Chi, Yu Zheng 0001. humanoids 2023: 1-8 [doi]

Tabletop Transparent Scene Reconstruction via Epipolar-Guided Optical Flow with Monocular Depth Completion PriorXiaotong Chen, Zheming Zhou, Zhuo Deng, Omid Ghasemalizadeh, Min Sun, Cheng-Hao Kuo, Arnie Sen. humanoids 2023: 1-8 [doi]

Feasibility-Aware Plan Adaptation in Humanoid Gait GenerationMichele Cipriano, Marcos R. O. A. Máximo, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo. humanoids 2023: 1-8 [doi]

Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference GenerationGuillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos. humanoids 2023: 1-8 [doi]

Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm QuadrupedIoannis Dadiotis, Arturo Laurenzi, Nikos G. Tsagarakis. humanoids 2023: 1-8 [doi]

Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support PhasesTobias Egle, Johannes Englsberger, Christian Ott 0001. humanoids 2023: 1-8 [doi]

Centroidal State Estimation and Control for Hardware-Constrained Humanoid RobotsGrzegorz Ficht, Sven Behnke. humanoids 2023: 1-8 [doi]

A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton InterfacesNikola Fischer, Hosam Alagi, Michael Beigl, Björn Hein, Franziska Mathis-Ullrich. humanoids 2023: 1-7 [doi]

Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot LocomotionKonrad Fründ, Fabian Beck, Anton Leonhard Shu, Florian Loeffl, Jinoh Lee. humanoids 2023: 1-8 [doi]

Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step RecoveryRobert J. Griffin, James Foster, Stefan Fasano, Brandon Shrewsbury, Sylvain Bertrand. humanoids 2023: 1-8 [doi]

Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via WearablesCheng Guo, Lorenzo Rapetti, Kourosh Darvish, Riccardo Grieco, Francesco Draicchio, Daniele Pucci. humanoids 2023: 1-8 [doi]

Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque FeedbackYun-Ho Han, Baek-Kyu Cho. humanoids 2023: 1-8 [doi]

Data-driven Identification of a Non-homogeneous Inverted Pendulum Model for Enhanced Humanoid ControlErnesto Hernandez-Hinojosa, Pranav A. Bhounsule. humanoids 2023: 1-8 [doi]

Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered HandMatthias Humt, Dominik Winkelbauer, Ulrich Hillenbrand, Berthold Bäuml. humanoids 2023: 1-8 [doi]

Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNsFelix Hundhausen, Simon Hubschneider, Tamim Asfour. humanoids 2023: 1-7 [doi]

Enhancing Bipedal Walking Robot Stability Using Foot Placement and Reversible Switching Surfaces ControllerZeinab Jafari, Mahyar Naraghi. humanoids 2023: 1-8 [doi]

Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language ModelKento Kawaharazuka, Naoaki Kanazawa, Yoshiki Obinata, Kei Okada, Masayuki Inaba. humanoids 2023: 1-6 [doi]

Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition BehaviorsKento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa, Kei Okada, Masayuki Inaba. humanoids 2023: 1-8 [doi]

Learning Realistic Joint Space Boundaries for Range of Motion Analysis of Healthy and Impaired Human ArmsShafagh Keyvanian, Michelle J. Johnson, Nadia Figueroa. humanoids 2023: 1-8 [doi]

Enhancing AdultSize Humanoid Localization Accuracy: A Vision-based aMCL Leveraging Object Detection Model and Hungarian AlgorithmJun-Young Kim, Minsung Ahn, Jeakweon Han. humanoids 2023: 1-8 [doi]

On the Actuator Requirements for Human-Like Execution of Retargeted Human Motion on Humanoid RobotsCornelius Klas, André Meixner, Daniel Ruffler, Tamim Asfour. humanoids 2023: 1-8 [doi]

LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic ArmMasato Kobayashi, Jun Yamada, Masashi Hamaya, Kazutoshi Tanaka. humanoids 2023: 1-8 [doi]

Towards Passivity Based Nonprehensile Bimanual Manipulation of Large ObjectsLeonidas Koutras, Ilia Ntoliou, Zoe Doulgeri. humanoids 2023: 1-8 [doi]

Recognition of Bimanual Manipulation Categories in RGB-D Human DemonstrationFranziska Krebs, Leonie Leven, Tamim Asfour. humanoids 2023: 1-8 [doi]

The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid BodiesJames Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson. humanoids 2023: 1-7 [doi]

Kinodynamic Pose Optimization for Humanoid Loco-ManipulationJunheng Li, Quan Nguyen 0004. humanoids 2023: 1-8 [doi]

Knowledge Augmentation and Task Planning in Large Language Models for Dexterous GraspingHui Li, Dang-Tran, Xinyu Zhang, Hongsheng He. humanoids 2023: 1-8 [doi]

In-person vs Remote HRI: A Comparative Study of Robot Facilitated Dance with Older Adults in Long-term CareNan Liang, Yizhu Li, Goldie Nejat. humanoids 2023: 1-7 [doi]

ViT-A*: Legged Robot Path Planning using Vision Transformer AJianwei Liu, Shirui Lyu, Denis Hadjivelichkov, Valerio Modugno, Dimitrios Kanoulas. humanoids 2023: 1-6 [doi]

Legged Robot Running on Rough Terrains Based on Norm Regulation of Spring-Loaded Inverted Pendulum ModelChun Ho David Lo, C. Y. Giselle Wong, Wee Shen Ng, Shengzhi Wang, Xiangyu Chu, K. W. Samuel Au. humanoids 2023: 1-8 [doi]

Designing Anthropomorphic Soft Hands Through InteractionPragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, Nancy S. Pollard. humanoids 2023: 1-8 [doi]

Exploring the Cost of Interruptions in Human-Robot TeamingSwathi Mannem, William Macke, Peter Stone, Reuth Mirsky. humanoids 2023: 1-8 [doi]

DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm SystemsSalih Marangoz, Rohit Menon, Nils Dengler, Maren Bennewitz. humanoids 2023: 1-8 [doi]

Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged LocomotionDaniel Marew, Misha Lvovsky, Shangqun Yu, Shotaro Sessions, Donghyun Kim. humanoids 2023: 1-8 [doi]

Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven HumanoidShimpei Masuda, Kuniyuki Takahashi. humanoids 2023: 1-8 [doi]

Generating Humanoid Multi-Contact Through Feasibility VisualizationStephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin. humanoids 2023: 1-8 [doi]

Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid RobotsHosameldin Awadalla Omer Mohamed, Gabriele Nava, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci. humanoids 2023: 1-8 [doi]

A Virtual Reality Framework for Human-Robot Collaboration in Cloth FoldingMarco Moletta, Maciej K. Wozniak, Michael C. Welle, Danica Kragic. humanoids 2023: 1-7 [doi]

Legway: Design and Development of a Transformable Wheel-Leg Hybrid robotJunyeon Namgung, Baek-Kyu Cho. humanoids 2023: 1-8 [doi]

FIGAROH: A Python Toolbox for Dynamic Identification and Geometric Calibration of Robots and HumansThanh D. V. Nguyen, Vincent Bonnet, Maxime Sabbah, Maxime Gautier, Pierre Fernbach, Florent Lamiraux. humanoids 2023: 1-8 [doi]

SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based PriorsShafeef Omar, Lorenzo Amatucci, Victor Barasuol, Giulio Turrisi, Claudio Semini. humanoids 2023: 1-8 [doi]

Effects of Robotic Expertise and Task Knowledge on Physical Ergonomics and Joint Efficiency in a Human-Robot Collaboration TaskMatteo Pantano, Arianna Curioni, Daniel Regulin, Tobias Kamps, Dongheui Lee. humanoids 2023: 1-8 [doi]

Multimodal Episodic Analysis of Human Personality Traits for Personalized Behavior in Social RobotsSarwar Paplu, Bhalachandra Gajanana Bhat, Karsten Berns. humanoids 2023: 1-6 [doi]

Design of New Drive Mechanism for Dynamic Movement of Humanoid Robot LegsMin Ho Park, Baek-Kyu Cho. humanoids 2023: 1-8 [doi]

Optimal Design of Agile Jumping Maneuvers for a Single Leg SystemAndrea Patrizi, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis. humanoids 2023: 1-8 [doi]

Prescient Teleoperation of Humanoid RobotsLuigi Penco, Jean-Baptiste Mouret, Serena Ivaldi. humanoids 2023: 1-8 [doi]

An Adaptive Semi-Autonomous Impedance Controller for Teleoperated Object Grasping Based on Human Grip Safety MarginMarlies Popken, Joseph Micah Prendergast, Michaël Wiertlewski, Luka Peternel. humanoids 2023: 1-8 [doi]

Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal DirectionsVidyasagar Rajendran, Francisco Javier Andrade Chavez, Katja D. Mombaur. humanoids 2023: 1-8 [doi]

Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot ConfigurationYoshimoto Ribayashi, Kazuhiro Miyama, Akihiro Miki, Kento Kawaharazuka, Kei Okada, Koji Kawasaki, Masayuki Inaba. humanoids 2023: 1-7 [doi]

In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based ApproachMartin Rohrmüller, Philipp Beckerle, Knut Graichen, Monica Malvezzi, Maria Pozzi. humanoids 2023: 1-8 [doi]

A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles AvoidanceLuca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis, Nikos G. Tsagarakis. humanoids 2023: 1-8 [doi]

Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand ManipulationLennart Röstel, Johannes Pitz, Leon Sievers, Berthold Bäuml. humanoids 2023: 1-8 [doi]

Visual servoing for dual arm shaping of soft objects in 3DCélia Saghour, Mathieu Célérier, Philippe Fraisse, Andrea Cherubini. humanoids 2023: 1-7 [doi]

Categorization of Employees' Fears about Working with Physical RobotsMarkus Salo, Markus Makkonen, Henri Pirkkalainen. humanoids 2023: 1-8 [doi]

Design and Development of the MIT Humanoid: A Dynamic and Robust Research PlatformAndrew SaLoutos, Elijah Stanger-Jones, Yanran Ding, Matthew Chignoli, Sangbae Kim. humanoids 2023: 1-8 [doi]

TempoNet: Empowering Long-Term Knee Joint Angle Prediction with Dynamic Temporal Attention in Exoskeleton ControlLyes Saad Saoud, Irfan Hussain. humanoids 2023: 1-8 [doi]

Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear OptimizationCarlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci. humanoids 2023: 1-8 [doi]

Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman FilterAlexander Schperberg, Yuki Shirai, Xuan Lin, Yusuke Tanaka, Dennis W. Hong. humanoids 2023: 1-8 [doi]

Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE FinalsMax Schwarz, Christian Lenz, Raphael Memmesheimer, Bastian Pätzold, Andre Rochow, Michael Schreiber, Sven Behnke. humanoids 2023: 1-8 [doi]

Improving Domain Transfer of Robot Dynamics Models with Geometric System Identification and Learned Friction CompensationLaura Schwendeman, Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim. humanoids 2023: 1-8 [doi]

Extremely Fast Computation of CoM Trajectory Generation for Walking Leveraging MPPI AlgorithmYunsoo Seo, Dongwhan Kim, Jaewan Bak, Yonghwan Oh, Yisoo Lee. humanoids 2023: 1-7 [doi]

Deep Imitation Learning for Humanoid Loco-manipulation Through Human TeleoperationMingyo Seo, Steve Han, Kyutae Sim, SeungHyeon Bang, Carlos Gonzalez, Luis Sentis, Yuke Zhu. humanoids 2023: 1-8 [doi]

Towards design and development of new joint modules for humanoid ergoCub 2.0Divya Shah, Marcello Savoldi, Alessandro Scalzo, Andrea Mura, Jacopo Losi, Valentina Gaggero, Luca Fiorio, Marco Maggiali. humanoids 2023: 1-7 [doi]

Exploring the Capabilities of a General-Purpose Robotic Arm in Chess GameplayKazuki Shin, Sankalp Yamsani, Roman Mineyev, Hongyu Chen, Nitish Gandi, Yong Jae Lee, Joohyung Kim. humanoids 2023: 1-8 [doi]

Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear ProgrammingYoungwoo Sim, Guillermo Colin, Joao Ramos. humanoids 2023: 1-8 [doi]

Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDPShubham Singh, Ryan P. Russell, Patrick M. Wensing. humanoids 2023: 1-8 [doi]

Effects of Object Mass on Balancing for Whole-Body Lifting TasksHyunjong Song, William Z. Peng, Joo H. Kim. humanoids 2023: 1-8 [doi]

Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction ConsiderationsSait Sovukluk, Christian Ott 0001, M. Mert Ankarali. humanoids 2023: 1-8 [doi]

SNU-Avatar Robot Hand: Dexterous Robot Hand with Prismatic Four-Bar Linkage for Versatile Daily ApplicationsEunho Sung, Seungbin You, Seungyeon Kim, Jaeheung Park. humanoids 2023: 1-8 [doi]

Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact MeasurementsJohannes Tenhumberg, Leon Sievers, Berthold Bäuml. humanoids 2023: 1-8 [doi]

Efficient Learning of Fast Inverse Kinematics with Collision AvoidanceJohannes Tenhumberg, Arman Mielke, Berthold Bäuml. humanoids 2023: 1-8 [doi]

Encircling Skin Structure for Covering the Palmar and Dorsal Side of Robot Hand Joints with Thick 3-Axis Tactile SensorsKeigo Torii, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano. humanoids 2023: 1-8 [doi]

Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact JointsYasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann. humanoids 2023: 1-7 [doi]

*Wandi Wei, Zhicheng Wang, Anhuan Xie, Jun Wu 0003, Rong Xiong, Qiuguo Zhu. humanoids 2023: 1-7 [doi]

GoNet: An Approach-Constrained Generative Grasp Sampling NetworkZehang Weng, Haofei Lu, Jens Lundell, Danica Kragic. humanoids 2023: 1-7 [doi]

ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent SpaceYashuai Yan, Esteve Valls Mascaro, Dongheui Lee. humanoids 2023: 1-8 [doi]

A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic LoadingMehmet Can Yildirim, Edgar Alejandro Pisano, Mazin Hamad, Valentin Le Mesle, Abdalla Swikir, Sami Haddadin. humanoids 2023: 1-8 [doi]

Pneumatic Humanoid Robot with Adsorption Mechanisms on the Sole to Realize a Stepping Motion in BadmintonRyuji Yoshida, Kazuo Kiguchi, Satoshi Nishikawa. humanoids 2023: 1-6 [doi]

Optimization of Muscle Arrangement Extraction from Human Waist Structure for Biomimetic Humanoid ImplementationShunnosuke Yoshimura, Sota Yuzaki, Kento Kawaharazuka, Kei Okada, Masayuki Inaba. humanoids 2023: 1-8 [doi]

Fusion of Body and Environment with Movable Carabiners for Wire-Driven Robots Toward Expansion of Physical CapabilitiesSota Yuzaki, Akihiro Miki, Masahiro Bando, Shunnosuke Yoshimura, Temma Suzuki, Kento Kawaharazuka, Kei Okada, Masayuki Inaba. humanoids 2023: 1-7 [doi]

Clustering of Motion Trajectories by a Distance Measure Based on Semantic FeaturesChristoph Zelch, Jan Peters 0001, Oskar von Stryk. humanoids 2023: 1-8 [doi]

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2023

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2023

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