Preprint
Oct 2026
Inertially Significant Humanoid Teleoperation via Whole Body Model Predictive Control and Online Parameter Estimation
The effective deployment of humanoid robots in practical tasks of interest will require a capability of sensing and adapting to variations in inertial parameters, as occurs during heavy tool use or when carrying significant payload. Such payloads constitute a significant proportion of the combined payload-robot system,...
James Foster, Beomyeong Park, Luigi Penco et al.
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