Related papers: A Whole-Body Pose Taxonomy for Loco-Manipulation T…
Human motion taxonomies serve as high-level hierarchical abstractions that classify how humans move and interact with their environment. They have proven useful to analyse grasps, manipulation skills, and whole-body support poses. Despite…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Humanoid robots have achieved significant progress in motion generation and control, exhibiting movements that appear increasingly natural and human-like. Inspired by the Turing Test, we propose the Motion Turing Test, a framework that…
Many works in robot teaching either focus only on teaching task knowledge, such as geometric constraints, or motion knowledge, such as the motion for accomplishing a task. However, to effectively teach a complex task sequence to a robot, it…
We propose a novel framework for accurate 3D human pose estimation in combat sports using sparse multi-camera setups. Our method integrates robust multi-view 2D pose tracking via a transformer-based top-down approach, employing epipolar…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Humanoid robots could benefit from using their upper bodies for support contacts, enhancing their workspace, stability, and ability to perform contact-rich and pushing tasks. In this paper, we propose a unified approach that combines an…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Fully leveraging the loco-manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body…
Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…
Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems. Predicting body dynamics requires capturing subtle…
Human motion prediction combines the tasks of trajectory forecasting and human pose prediction. For each of the two tasks, specialized models have been developed. Combining these models for holistic human motion prediction is non-trivial,…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Modeling and control of the human musculoskeletal system is important for understanding human motor functions, developing embodied intelligence, and optimizing human-robot interaction systems. However, current human musculoskeletal models…
In this paper, we propose a novel approach on controlling wheel-legged quadrupedal robots using pose optimization and force control via quadratic programming (QP). Our method allows the robot to leverage the whole-body motion and the wheel…
We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…