Related papers: Gaze Stabilization for Humanoid Robots: a Comprehe…
Robots are used by humans not only as tools but also to interactively assist and cooperate with humans, thereby forming physical human-robot interactions. In these interactions, there is a risk that a feedback loop causes unstable force…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additionally, existing learning-based frameworks often train the…
Humanoid robots without internal sensors such as a compass tend to lose their orientation after a fall. Furthermore, re-initialisation is often ambiguous due to symmetric man-made environments. The room-awareness module proposed here is…
Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined…
Convex optimization is crucial in controlling legged robots, where stability and optimal control are vital. Many control problems can be formulated as convex optimization problems, with a convex cost function and constraints capturing…