3 accepted papers
Despite impressive advances of humanoid robotics, the autonomous planning of whole-body loco-manipulation actions in unknown environments is still an open problem. In our previous work, we addressed two fundamental aspects related to this problem: 1) the autonomous detection of end-effector contact…
Intuitive exoskeleton control is fundamental since it contributes to improved user acceptance and wearability comfort. This requires the detection of user's motion intention and its incorporation into the exoskeleton control system. In this work, we propose a classification system based on Hidden Ma…
We present a novel approach for generating sequences of whole-body poses with multi-contacts for humanoid robots, which is inspired by techniques from natural language processing. To this end, we propose a probabilistic n-gram language model learned from observation of human locomotion tasks. Human…