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22nd Humanoids 2023: Austin, TX, USA
- 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX, USA, December 12-14, 2023. IEEE 2023, ISBN 979-8-3503-0327-8
- Jianwei Liu
, Shirui Lyu, Denis Hadjivelichkov
ViT-A*: Legged Robot Path Planning using Vision Transformer A. 1-6 - Martin Rohrmüller, Philipp Beckerle, Knut Graichen, Monica Malvezzi, Maria Pozzi:
In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach. 1-8 - Grzegorz Ficht, Sven Behnke:
Centroidal State Estimation and Control for Hardware-Constrained Humanoid Robots. 1-8 - Johannes Tenhumberg
Efficient Learning of Fast Inverse Kinematics with Collision Avoidance. 1-8 - Marlies Popken, Joseph Micah Prendergast
An Adaptive Semi-Autonomous Impedance Controller for Teleoperated Object Grasping Based on Human Grip Safety Margin. 1-8 - Keigo Torii, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano:
Encircling Skin Structure for Covering the Palmar and Dorsal Side of Robot Hand Joints with Thick 3-Axis Tactile Sensors. 1-8 - Michele Cipriano, Marcos R. O. A. Máximo, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo:
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation. 1-8 - Shafagh Keyvanian
Learning Realistic Joint Space Boundaries for Range of Motion Analysis of Healthy and Impaired Human Arms. 1-8 - Michel Aractingi, Pierre-Alexandre Léziart
A Hierarchical Scheme for Adapting Learned Quadruped Locomotion. 1-8 - Cheng Guo, Lorenzo Rapetti, Kourosh Darvish, Riccardo Grieco, Francesco Draicchio, Daniele Pucci:
Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via Wearables. 1-8 - Yashuai Yan, Esteve Valls Mascaro, Dongheui Lee:
ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space. 1-8 - Junheng Li, Quan Nguyen:
Kinodynamic Pose Optimization for Humanoid Loco-Manipulation. 1-8 - Tobias Egle, Johannes Englsberger, Christian Ott:
Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases. 1-8 - Sait Sovukluk
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations. 1-8 - Shuxiao Chen, Bike Zhang, Mark W. Mueller
Learning Torque Control for Quadrupedal Locomotion. 1-8 - Nan Liang, Yizhu Li, Goldie Nejat:
In-person vs Remote HRI: A Comparative Study of Robot Facilitated Dance with Older Adults in Long-term Care. 1-7 - Xiaotong Chen, Zheming Zhou, Zhuo Deng, Omid Ghasemalizadeh, Min Sun, Cheng-Hao Kuo, Arnie Sen:
Tabletop Transparent Scene Reconstruction via Epipolar-Guided Optical Flow with Monocular Depth Completion Prior. 1-8 - Alexander Schperberg, Yuki Shirai, Xuan Lin, Yusuke Tanaka, Dennis W. Hong:
Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter. 1-8 - Irene Beck, Italo Belli, Luka Peternel
Real-Time Tendon Strain Estimation of Rotator-Cuff Muscles during Robotic-Assisted Rehabilitation. 1-8 - Jun Young Kim
Enhancing AdultSize Humanoid Localization Accuracy: A Vision-based aMCL Leveraging Object Detection Model and Hungarian Algorithm. 1-8 - Andrea Patrizi
Optimal Design of Agile Jumping Maneuvers for a Single Leg System. 1-8 - Divya Shah, Marcello Savoldi, Alessandro Scalzo, Andrea Mura, Jacopo Losi, Valentina Gaggero, Luca Fiorio, Marco Maggiali:
Towards design and development of new joint modules for humanoid ergoCub 2.0. 1-7 - Yunsoo Seo, Dongwhan Kim, Jaewan Bak
Extremely Fast Computation of CoM Trajectory Generation for Walking Leveraging MPPI Algorithm. 1-7 - Matteo Pantano
Effects of Robotic Expertise and Task Knowledge on Physical Ergonomics and Joint Efficiency in a Human-Robot Collaboration Task. 1-8 - Ernesto Hernandez-Hinojosa
Data-driven Identification of a Non-homogeneous Inverted Pendulum Model for Enhanced Humanoid Control. 1-8 - Min-Ho Park, Baek-Kyu Cho:
Design of New Drive Mechanism for Dynamic Movement of Humanoid Robot Legs. 1-8 - Luigi Penco
Prescient Teleoperation of Humanoid Robots. 1-8 - Wandi Wei, Zhicheng Wang, Anhuan Xie, Jun Wu, Rong Xiong, Qiuguo Zhu:
Learning Gait-conditioned Bipedal Locomotion with Motor Adaptation*. 1-7 - Guillermo Colin, Joseph Byrnes, Youngwoo Sim, Patrick M. Wensing, Joao Ramos:
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation. 1-8 - Junyeon Namgung, Baek-Kyu Cho:
Legway: Design and Development of a Transformable Wheel-Leg Hybrid robot. 1-8 - Brian Acosta, Michael Posa:
Bipedal Walking on Constrained Footholds with MPC Footstep Control. 1-8 - Stephen McCrory, Sylvain Bertrand, Achintya Mohan, Duncan Calvert, Jerry E. Pratt, Robert J. Griffin
Generating Humanoid Multi-Contact Through Feasibility Visualization. 1-8 - Célia Saghour, Mathieu Célérier, Philippe Fraisse, Andrea Cherubini:
Visual servoing for dual arm shaping of soft objects in 3D. 1-7 - Chun Ho David Lo, C. Y. Giselle Wong, Wee Shen Ng, Shengzhi Wang
Legged Robot Running on Rough Terrains Based on Norm Regulation of Spring-Loaded Inverted Pendulum Model. 1-8 - Hyunjong Song, William Z. Peng
Effects of Object Mass on Balancing for Whole-Body Lifting Tasks. 1-8 - Sebastian Wolf
Modularity in Humanoid Robot Design for Flexibility in System Structure and Application. 1-7 - Hui Li, Dang Tran, Xinyu Zhang, Hongsheng He:
Knowledge Augmentation and Task Planning in Large Language Models for Dexterous Grasping. 1-8 - Yun-Ho Han
Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque Feedback. 1-8 - Leonidas Koutras, Ilia Ntoliou, Zoe Doulgeri:
Towards Passivity Based Nonprehensile Bimanual Manipulation of Large Objects. 1-8 - Max Schwarz, Christian Lenz, Raphael Memmesheimer
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals. 1-8 - Robert J. Griffin
Reachability Aware Capture Regions with Time Adjustment and Cross-Over for Step Recovery. 1-8 - Shimpei Masuda, Kuniyuki Takahashi:
Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid. 1-8 - Sarwar Paplu, Bhalachandra Gajanana Bhat, Karsten Berns:
Multimodal Episodic Analysis of Human Personality Traits for Personalized Behavior in Social Robots. 1-6 - Pranav A. Bhounsule, Daniel Torres, Ernesto Hernandez-Hinojosa
Task-Level Control and Poincaré Map-Based Sim-to-Real Transfer for Effective Command Following of Quadrupedal Trot Gait. 1-8 - Marco Moletta, Maciej K. Wozniak, Michael C. Welle, Danica Kragic:
A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding. 1-7 - Cornelia Bauer, Nancy S. Pollard:
Human-Informed Robot Agility: Understanding Human Pushing Interactions for Skill Transfer to Humanoids. 1-8 - Yu-Chen Chang, Nitish Gandi, Kazuki Shin, Ye-Ji Mun, Katherine Driggs-Campbell, Joohyung Kim
Specifying Target Objects in Robot Teleoperation Using Speech and Natural Eye Gaze. 1-7 - Markus Salo, Markus Makkonen
Categorization of Employees' Fears about Working with Physical Robots. 1-8 - Youngwoo Sim, Guillermo Colin, Joao Ramos:
Control- & Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming. 1-8 - Salih Marangoz, Rohit U. Menon
DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems. 1-8 - Xin Zhang, Pietro Balatti, Mattia Leonori, Arash Ajoudani:
A Human Motion Compensation Framework for a Supernumerary Robotic Arm. 1-8 - Luca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis
A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. 1-8 - Masato Kobayashi
LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic Arm. 1-8 - Ivan Bergonzani, Mihaela Popescu
Fast Dynamic Walking with RH5 Humanoid Robot. 1-8 - Lennart Röstel, Johannes Pitz, Leon Sievers
Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation. 1-8 - Pragna Mannam, Kenneth Shaw, Dominik Bauer, Jean Oh, Deepak Pathak, Nancy S. Pollard
Designing Anthropomorphic Soft Hands Through Interaction. 1-8 - Lyes Saad Saoud, Irfan Hussain:
TempoNet: Empowering Long-Term Knee Joint Angle Prediction with Dynamic Temporal Attention in Exoskeleton Control. 1-8 - Francisco Javier Andrade Chavez, Vidyasagar Rajendran, Katja D. Mombaur:
A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion. 1-8 - Pranav Barot, Ewen N. MacDonald, Katja D. Mombaur:
An Audio-Video Sensor Fusion Framework To Augment Humanoid Capabilities For Identifying And Interacting With Human Conversational Partners. 1-8 - Andrew SaLoutos, Elijah Stanger-Jones, Yanran Ding
Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform. 1-8 - Sota Yuzaki, Akihiro Miki, Masahiro Bando, Shunnosuke Yoshimura, Temma Suzuki, Kento Kawaharazuka, Kei Okada, Masayuki Inaba:
Fusion of Body and Environment with Movable Carabiners for Wire-Driven Robots Toward Expansion of Physical Capabilities. 1-7 - Ryuji Yoshida, Kazuo Kiguchi, Satoshi Nishikawa:
Pneumatic Humanoid Robot with Adsorption Mechanisms on the Sole to Realize a Stepping Motion in Badminton. 1-6 - Zeinab Jafari, Mahyar Naraghi:
Enhancing Bipedal Walking Robot Stability Using Foot Placement and Reversible Switching Surfaces Controller. 1-8 - Mingyo Seo, Steve Han, Kyutae Sim, SeungHyeon Bang, Carlos Gonzalez, Luis Sentis
Deep Imitation Learning for Humanoid Loco-manipulation Through Human Teleoperation. 1-8 - Felix Hundhausen, Simon Hubschneider, Tamim Asfour:
Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs. 1-7 - Mehmet Can Yildirim
A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading. 1-8 - Lipeng Chen, Xiangchi Chen, Wanchao Chi, Yu Zheng:
A Learning Framework for Human-Like Time Parameterization of Robot Manipulation Paths. 1-8 - Cornelius Klas
On the Actuator Requirements for Human-Like Execution of Retargeted Human Motion on Humanoid Robots. 1-8 - Johannes Tenhumberg
Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements. 1-8 - Kazuki Shin, Sankalp Yamsani, Roman Mineyev, Hongyu Chen, Nitish Gandi, Yong Jae Lee, Joohyung Kim
Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay. 1-8 - Matthias Humt, Dominik Winkelbauer, Ulrich Hillenbrand, Berthold Bäuml:
Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand. 1-8 - Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa, Kei Okada, Masayuki Inaba:
Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors. 1-8 - Ali Aflakian, Rustam Stolkin, Alireza Rastegarpanah:
Integrating Multi-Demonstration Knowledge and Bounded Workspaces for Efficient Deep Reinforcement Learning. 1-8 - Shunnosuke Yoshimura, Sota Yuzaki, Kento Kawaharazuka, Kei Okada, Masayuki Inaba:
Optimization of Muscle Arrangement Extraction from Human Waist Structure for Biomimetic Humanoid Implementation. 1-8 - Shubham Singh, Ryan P. Russell, Patrick M. Wensing:
Analytical Second-Order Derivatives of Rigid-Body Contact Dynamics: Application to Multi-Shooting DDP. 1-8 - Ioannis Dadiotis
Whole-Body MPC for Highly Redundant Legged Manipulators: Experimental Evaluation with a 37 DoF Dual-Arm Quadruped. 1-8 - Franziska Krebs, Leonie Leven, Tamim Asfour:
Recognition of Bimanual Manipulation Categories in RGB-D Human Demonstration. 1-8 - Antonis Sidiropoulos, Zoe Doulgeri:
From RGB images to Dynamic Movement Primitives for planar tasks. 1-8 - Shafeef Omar, Lorenzo Amatucci
SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors. 1-8 - Emmanuel Akita, Farshid Alambeigi, Mitch Pryor:
A Generic, Affordance-Constrained, Screw-Based Motion Planner for Contact Task Manipulation. 1-8 - Yoshimoto Ribayashi, Kazuhiro Miyama, Akihiro Miki, Kento Kawaharazuka, Kei Okada, Koji Kawasaki, Masayuki Inaba:
Development of a Wire-Wound Muscle-Tendon Complex Drive and Its Application to a Two-Dimensional Robot Configuration. 1-7 - Despina Ekaterini Argiropoulos
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains. 1-8 - Eunho Sung, Seungbin You, Seungyeon Kim, Jaeheung Park:
SNU-Avatar Robot Hand: Dexterous Robot Hand with Prismatic Four-Bar Linkage for Versatile Daily Applications. 1-8 - Vidyasagar Rajendran, Francisco Javier Andrade Chavez, Katja D. Mombaur:
Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal Directions. 1-8 - Virgile Batto, Thomas Flayols, Nicolas Mansard, Margot Vulliez:
Comparative Metrics of Advanced Serial/Parallel Biped Design and Characterization of the Main Contemporary Architectures. 1-7 - Tyler J. Becker, Song Jiang, David Feil-Seifer
Single Robot Multitasking Through Dynamic Resource Allocation. 1-8 - Nikola Fischer
A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton Interfaces. 1-7 - Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Punith Reddy Vanteddu
Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots. 1-8 - Christoph Zelch, Jan Peters, Oskar von Stryk:
Clustering of Motion Trajectories by a Distance Measure Based on Semantic Features. 1-8 - Seongjin Bien, Jon Skerlj, Paul Thiel, Felix Eberle, Mario Tröbinger, Christian Stolle, Luis F. C. Figueredo, Hamid Sadeghian
Human-Inspired Audiovisual Inducement of Whole-Body Responses. 1-8 - James Kyle, Justin K. Yim
The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies. 1-7 - Yasunori Toshimitsu, Benedek Forrai, Barnabas Gavin Cangan, Ulrich Steger, Manuel Knecht, Stefan Weirich, Robert K. Katzschmann
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints. 1-7 - Thanh D. V. Nguyen, Vincent Bonnet, Maxime Sabbah, Maxime Gautier, Pierre Fernbach, Florent Lamiraux:
FIGAROH: A Python Toolbox for Dynamic Identification and Geometric Calibration of Robots and Humans. 1-8 - Laura Schwendeman, Andrew SaLoutos, Elijah Stanger-Jones, Sangbae Kim:
Improving Domain Transfer of Robot Dynamics Models with Geometric System Identification and Learned Friction Compensation. 1-8 - Daniel Marew, Misha Lvovsky, Shangqun Yu, Shotaro Sessions, Donghyun Kim:
Integration of Riemannian Motion Policy with Whole-Body Control for Collision-Free Legged Locomotion. 1-8 - Zehang Weng, Haofei Lu, Jens Lundell
GoNet: An Approach-Constrained Generative Grasp Sampling Network. 1-7 - Swathi Mannem, William Macke, Peter Stone, Reuth Mirsky:
Exploring the Cost of Interruptions in Human-Robot Teaming. 1-8 - Carlotta Sartore
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. 1-8 - Konrad Fründ
Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion. 1-8 - Kento Kawaharazuka, Naoaki Kanazawa, Yoshiki Obinata, Kei Okada, Masayuki Inaba:
Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model. 1-6
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