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Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
As humanoid robots increasingly introduced into social scene, achieving emotionally synchronized multimodal interaction remains a significant challenges. To facilitate the further adoption and integration of humanoid robots into service…
Keeping the stability can be counted as the essential ability of a humanoid robot to step out of the laboratory to work in our real environment. Since humanoid robots have similar kinematic to a human, humans expect these robots to be…
This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…
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…
In this paper, a simple Neural controller has been used to achieve stable walking in a NAO biped robot, with 22 degrees of freedom that implemented in a virtual physics-based simulation environment of Robocup soccer simulation environment.…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
For humans, fast, efficient walking over flat ground represents the vast majority of locomotion that an individual experiences on a daily basis, and for an effective, real-world humanoid robot the same will likely be the case. In this work,…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Salamander-like quadruped robots are designed inspired by the skeletal structure of their biological counterparts. However, existing controllers cannot fully exploit these morphological features and largely rely on predefined gait patterns…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additionally, existing learning-based frameworks often train the…
Generating robust locomotion for a humanoid robot in the presence of disturbances is difficult because of its high number of degrees of freedom and its unstable nature. In this paper, we used the concept of Divergent Component of…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…