Related papers: A Whole-Body Pose Taxonomy for Loco-Manipulation T…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
This paper presents a learning-from-demonstration (LfD) framework for teaching human-robot social interactions that involve whole-body haptic interaction, i.e. direct human-robot contact over the full robot body. The performance of existing…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
Grasping manipulation is a fundamental mode for human interaction with daily life objects. The synthesis of grasping motion is also greatly demanded in many applications such as animation and robotics. In objects grasping research field,…
Accurate whole-body multi-person pose estimation and tracking is an important yet challenging topic in computer vision. To capture the subtle actions of humans for complex behavior analysis, whole-body pose estimation including the face,…
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Humanoid activities involving sequential contacts are crucial for complex robotic interactions and operations in the real world and are traditionally solved by model-based motion planning, which is time-consuming and often relies on…
Human pose estimation has made significant advancement in recent years. However, the existing datasets are limited in their coverage of pose variety. In this paper, we introduce a novel benchmark FollowMeUp Sports that makes an important…