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We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Controlling a high degrees of freedom humanoid robot is acknowledged as one of the hardest problems in Robotics. Due to the lack of mathematical models, an approach frequently employed is to rely on human intuition to design keyframe…
The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating teams continuously improve their systems. This paper presents…
This tool paper presents the High-Assurance ROS (HAROS) framework. HAROS is a framework for the analysis and quality improvement of robotics software developed using the popular Robot Operating System (ROS). It builds on a static analysis…
In order to properly assess the function and computational properties of simulated neural systems, it is necessary to account for the nature of the stimuli that drive the system. However, providing stimuli that are rich and yet both…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the of grasping irregular and delicate objects. Adoption…
The development of athletic humanoid robots has gained significant attention as advances in actuation, sensing, and control enable increasingly dynamic, real-world capabilities. RoboCup, an international competition of fully autonomous…
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and…
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their systems. In this paper, we present upgrades of our system which…
We present Human to Humanoid (H2O), a reinforcement learning (RL) based framework that enables real-time whole-body teleoperation of a full-sized humanoid robot with only an RGB camera. To create a large-scale retargeted motion dataset of…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Humanoid robots have shown success in locomotion and manipulation. Despite these basic abilities, humanoids are still required to quickly understand human instructions and react based on human interaction signals to become valuable…
The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm,…
There has always been much motivation for sharing code and solutions among teams in the RoboCup community. Yet the transfer of code between teams was usually complicated due to a huge variety of used frameworks and their differences in…
The use of machine learning in cyber-physical systems has attracted the interest of both industry and academia. However, no general solution has yet been found against the unpredictable behavior of neural networks and reinforcement learning…
We perform a Systematic Literature Review to discover how Humanoid robots are being applied in Socially Assistive Robotics experiments. Our search returned 24 papers, from which 16 were included for closer analysis. To do this analysis we…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…