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Author

Beomyeong Park

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2 papers indexed here

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Review Sep 2026

Reactive Humanoid Multi-Contact Using Learned Stability Models

We present a planning and control approach to reactively use hand contacts to stabilize a humanoid in low stability scenarios, where only using feet contacts may result in a fall. Candidate contacts are sampled within the robot's reachable workspace, and a preview is computed by rolling out the centroidal dynamics thro...

Stephen McCrory, Beomyeong Park, Nicholas Kitchel et al. · 0 citations
Jun 2026

A System for Fast, Resilient, and Adaptable Loco-Manipulation Behaviors on Humanoid Robots

There is tremendous value in humanoid robots taking on physically demanding, hazardous, and repetitive work in spaces built for humans. However, a useful robot for these spaces must coordinate locomotion, whole-body motion, perception, contact, and operator supervision. We present a robot-local, runtime-editable behavi...

Duncan Calvert, Luigi Penco, Dexton Anderson et al. · 1 citation

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