8 accepted papers
Driven by the need for rapid and reliable heavy payload transport in logistics and manufacturing, researchers are increasingly exploring early applications of humanoid robotics in these domains. Although bipedal locomotion excels on challenging terrain, wheeled modes of transportation remain signifi
This work presents a novel method to keep stable contact and balance while stepping over partial footholds for biped humanoid robots with flat feet. We exploit plantar tactile feedback to detect the geometry of the terrain and reconstruct online the new supporting polygon after landing every step. P
In this letter, we present a method for realizing the heat-evoked nociceptive withdrawal reflex (NWR) in the upper limb of a humanoid robot so that it can avoid the potential damage caused by noxious heat. We use a spiking neural network whose structure, encoding scheme, and form of information tran
In this work, we present a novel method for ankle/foot compliance for biped humanoid robots walking over uneven terrain. Based on distributed plantar proximity sensing, we developed the Preemptive Foot Compliance (PFC) control that generates a Preemptive Ground Reaction Wrench that modifies the foot
In this letter, we present a fast method for autonomously planing manipulation tasks for mobile manipulators. The planner defines an optimal order to perform pick-and-place operations for taking objects from a cluttered scene to specific deposit areas considering both, manipulator and mobile base mo
In this work, we propose a new estimation method for second-order kinematics for floating-base robots, based on highly redundant distributed inertial feedback. The linear acceleration of each robot link is measured at multiple points using a multimodal, self-configuring and self-calibrating artifici…
Humanoid robots are expected to interact in human environments, where physical interactions are unavoidable. Therefore, whole-body control methods that include multi-contact interactions are required. The new emerging technologies in touch sensing are fundamental to acquire online and rich informati…
Skin technology enabled a powerful way to sense the environment in robotic systems. It allows simplifying the formulation of safety tasks such as collision avoidance between the robot, the environment and surrounding objects. In this paper, a hierarchy policy based on tactile feedback is proposed to…