Christopher McGreavy — accepted AI-conference papers

2020

Optimisation of Body-ground Contact for Augmenting the Whole-Body Loco-manipulation of Quadruped Robots

Wouter J. Wolfslag, Christopher McGreavy, Guiyang Xin, Carlo Tiseo, Sethu Vijayakumar, Zhibin Li

IROS 2020poster

Legged robots have great potential to perform complex loco-manipulation tasks, yet it is challenging to keep the robot balanced while it interacts with the environment. In this paper we investigated the use of additional contact points for maximising the robustness of loco-manipulation motions. Spec…

Cited by 33 Source ↗Scholar ↗

2020

Unified Push Recovery Fundamentals: Inspiration from Human Study

Christopher McGreavy, Kai Yuan, Daniel Gordon, Kang Tan, Wouter J Wolfslag, Sethu Vijayakumar +1

ICRA 2020poster

Currently for balance recovery, humans outperform humanoid robots which use hand-designed controllers in terms of the diverse actions. This study aims to close this gap by finding core control principles that are shared across ankle, hip, toe and stepping strategies by formulating experiments to tes…

Cited by 12 Source ↗Scholar ↗