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Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
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…
Recent research in pedestrian simulation often aims to develop realistic behaviors in various situations, but it is challenging for existing algorithms to generate behaviors that identify weaknesses in automated vehicles' performance in…
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 have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
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…
Although humanoid and quadruped robots provide a wide range of capabilities, current control methods, such as Deep Reinforcement Learning, focus mainly on single skills. This approach is inefficient for solving more complicated tasks where…
Motion generation, the task of synthesizing realistic motion sequences from various conditioning inputs, has become a central problem in computer vision, computer graphics, and robotics, with applications ranging from animation and virtual…
Humanoid robots with behavioral autonomy have consistently been regarded as ideal collaborators in our daily lives and promising representations of embodied intelligence. Compared to fixed-based robotic arms, humanoid robots offer a larger…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
3D human motion generation has seen substantial advancement in recent years. While state-of-the-art approaches have improved performance significantly, they still struggle with complex and detailed motions unseen in training data, largely…
Physics simulation is ubiquitous in robotics. Whether in model-based approaches (e.g., trajectory optimization), or model-free algorithms (e.g., reinforcement learning), physics simulators are a central component of modern control pipelines…
In this paper, we analyze the effects of contact models on contact-implicit trajectory optimization for manipulation. We consider three different approaches: (1) a contact model that is based on complementarity constraints, (2) a smooth…
Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
Generating human motion that satisfies customized zero-shot goal functions, enabling applications such as controllable character animation and behavior synthesis for virtual agents, is a critical capability. While current approaches handle…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…