Cover Image

Joint-Space Control of a Structurally Elastic Humanoid Robot

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Herron, Connor W., Runyon, Christian, Pressgrove, Isaac, Beiter, Benjamin C., Kalita, Bhaben, Leonessa, Alexander
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

PANDORA: The Open-Source, Structurally Elastic Humanoid Robot
by: Herron, Connor W., et al.
Published: (2024)

Design and Development of a Locomotion Interface for Virtual Reality Lower-Body Haptic Interaction
by: He, An-Chi, et al.
Published: (2025)

Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications
by: Fuge, Zachary, et al.
Published: (2024)

Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
by: Herron, Connor W., et al.
Published: (2024)

Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator
by: Sambhus, Ruturaj, et al.
Published: (2023)

iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots
by: Dafarra, Stefano, et al.
Published: (2022)

Predictive Control with Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots
by: Amanzadeh, Leila, et al.
Published: (2026)

Safety-Critical and Distributed Nonlinear Predictive Controllers for Teams of Quadrupedal Robots
by: Imran, Basit Muhammad, et al.
Published: (2025)

Software Implementation of Digital Filtering via Tustin's Bilinear Transform
by: Herron, Connor W.
Published: (2024)

Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
by: Sovukluk, Sait, et al.
Published: (2025)

UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
by: Sorrentino, Ines, et al.
Published: (2024)

SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
by: Mahmoud, Yara, et al.
Published: (2025)

Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents
by: Habekost, Jan-Gerrit, et al.
Published: (2024)

SafeFall: Learning Protective Control for Humanoid Robots
by: Meng, Ziyu, et al.
Published: (2025)

Gesture Generation from Trimodal Context for Humanoid Robots
by: Tang, Shiyi, et al.
Published: (2024)

Humanoid Robots and Humanoid AI: Review, Perspectives and Directions
by: Cao, Longbing
Published: (2024)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2025)

Expressive Whole-Body Control for Humanoid Robots
by: Cheng, Xuxin, et al.
Published: (2024)

Learning Aerodynamics for the Control of Flying Humanoid Robots
by: Paolino, Antonello, et al.
Published: (2025)

Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot
by: Delrobaei, Mehdi, et al.
Published: (2025)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
by: He, Tairan, et al.
Published: (2024)

Task and Joint Space Dual-Arm Compliant Control
by: Mitchell, Alexander L., et al.
Published: (2025)

Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning
by: Tenhumberg, Johannes, et al.
Published: (2023)

Load-Aware Locomotion Control for Humanoid Robots in Industrial Transportation Tasks
by: Fu, Lequn, et al.
Published: (2026)

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots
by: Feng, Yusen, et al.
Published: (2026)

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots
by: Sorrentino, Ines, et al.
Published: (2025)

Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture
by: Bazrafshani, Mohammad Ali, et al.
Published: (2025)

Sim-to-Real of Humanoid Locomotion Policies via Joint Torque Space Perturbation Injection
by: Cha, Junhyeok Rui, et al.
Published: (2026)

Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids
by: Kawaharazuka, Kento, et al.
Published: (2025)

Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots
by: Wei, Yuxi, et al.
Published: (2025)

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots
by: Ghansah, Adrian B., et al.
Published: (2025)

Semantic Co-Speech Gesture Synthesis and Real-Time Control for Humanoid Robots
by: Zhang, Gang
Published: (2025)

Behavior Foundation Model for Humanoid Robots
by: Zeng, Weishuai, et al.
Published: (2025)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
by: Patterson, Zach J., et al.
Published: (2023)

Model Predictive Control for Flexible Joint Robots
by: Iskandar, Maged, et al.
Published: (2022)

Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
by: Hu, Kaizhe, et al.
Published: (2025)

Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
by: Ishihara, Koji, et al.
Published: (2024)

Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
by: Atar, Soofiyan, et al.
Published: (2025)

LiPS: Large-Scale Humanoid Robot Reinforcement Learning with Parallel-Series Structures
by: Zhang, Qiang, et al.
Published: (2025)

From Screen to Stage: Kid Cosmo, A Life-Like, Torque-Controlled Humanoid for Entertainment Robotics
by: Liu, Havel, et al.
Published: (2025)