Multi-Contact Whole-Body Force Control for Position-Controlled Robots

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Multi-Contact Whole-Body Force Control for Position-Controlled Robots

27 December 2023

Jean-Baptiste Mouret

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Papers citing "Multi-Contact Whole-Body Force Control for Position-Controlled Robots"

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Title
TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile ModalityIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Masaki Murooka Takahiro Hoshi Kensuke Fukumitsu Shimpei Masuda Marwan Hamze Tomoya Sasaki Mitsuharu Morisawa Eiichi Yoshida 98 1 0 18 Jun 2025
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact MotionIEEE Robotics and Automation Letters (RA-L), 2022 Masaki Murooka Mitsuharu Morisawa F. Kanehiro 177 25 0 29 May 2025
Extremum Flow Matching for Offline Goal Conditioned Reinforcement Learning Quentin Rouxel Clemente Donoso Fei Chen S. Ivaldi Jean-Baptiste Mouret OffRL 295 0 0 26 May 2025
Words2Contact: Identifying Support Contacts from Verbal Instructions Using Foundation Models Dionis Totsila Quentin Rouxel Jean-Baptiste Mouret S. Ivaldi 188 3 0 19 Jul 2024
WoCoCo: Learning Whole-Body Humanoid Control with Sequential ContactsConference on Robot Learning (CoRL), 2024 Chong Zhang Wenli Xiao Tairan He Guanya Shi 287 76 0 10 Jun 2024