Preprint
Sep 2026
CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation
Humanoids are increasingly capable of tracking complex whole-body motions, but physical interaction introduces a different challenge. When a robot makes contact with a person or the environment, it needs to respond to external forces while preserving the motion needed for the task. This response can vary across directi...
Xin-Yuan Luo, Chun-Yuan Yang, Bo-Yuan Chen et al.
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