Related papers: Walking of the iCub humanoid robot in different sc…
In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is…
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor of a hierarchy of high-priority position and orientation…
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…
We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub simulators (iCub SIM, iCub Gazebo), which require C++…
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…
Bipedal robots promise the ability to traverse rough terrain quickly and efficiently, and indeed, humanoid robots can now use strong ankles and careful foot placement to traverse discontinuous terrain. However, more agile underactuated…
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory…
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus…
In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…
Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we…
As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact.…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
Little research into tactile feet has been done for walking robots despite the benefits such feedback could give when walking on uneven terrain. This paper describes the development of a simple, robust and inexpensive tactile foot for…
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system…
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we present and compare several DCM based implementations of a…
We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…