Related papers: A Planning and Control Framework for Humanoid Syst…
Athletic robots demand a whole-body actuation system design that utilizes motors up to the boundaries of their performance. However, creating such robots poses challenges of integrating design principles and reasoning of practical design…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
This work presents an optimization-based task and motion planning (TAMP) framework that unifies planning for locomotion and manipulation through a shared representation of contact modes. We define symbolic actions as contact mode changes,…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…
Hybrid locomotion of wheeled-legged robots has recently attracted increasing attention due to their advantages of combining the agility of legged locomotion and the efficiency of wheeled motion. But along with expanded performance, the…
We present a novel framework for human-robot \emph{logical} interaction that enables robots to reliably satisfy (infinite horizon) temporal logic tasks while effectively collaborating with humans who pursue independent and unknown tasks.…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
Realizing interactive whole-body control for multi-humanoid systems is critical for unlocking complex collaborative capabilities in shared environments. Although recent advancements have significantly enhanced the agility of individual…
As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Coordinating heterogeneous robot teams from free-form natural-language instructions is hard. Language-only planners struggle with long-horizon coordination and hallucination, while purely formal methods require closed-world models. We…
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…
With the advent of artificial intelligence and machine learning, humanoid robots are made to learn a variety of skills which humans possess. One of fundamental skills which humans use in day-to-day activities is performing tasks with…
Humans can produce complex whole-body motions when interacting with their surroundings, by planning, executing and combining individual limb movements. We investigated this fundamental aspect of motor control in the setting of autonomous…
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…
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is required. In this work, we present hands-on applications of…
Achieving long-term autonomy for mobile robots operating in real-world unstructured environments such as farms remains a significant challenge. This is made increasingly complex in the presence of moving humans or livestock. These…