Related papers: Whole-Body Geometric Retargeting for Humanoid Robo…
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…
Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…
This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
We present a method for teaching dexterous manipulation tasks to robots from human hand motion demonstrations. Unlike existing approaches that solely rely on kinematics information without taking into account the plausibility of robot and…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Bilateral teleoperation offers an intriguing solution towards shared autonomy with aerial vehicles in contact-based inspection and manipulation tasks. Omnidirectional aerial robots allow for full pose operations, making them particularly…
Leveraging human motion data to impart robots with versatile manipulation skills has emerged as a promising paradigm in robotic manipulation. Nevertheless, translating multi-source human hand motions into feasible robot behaviors remains…
In most cases, upgrading from a single-robot system to a multi-robot system comes with increases in system payload and task performance. On the other hand, many multi-robot systems in open environments still rely on teleoperation.…
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay network conditions and does not require prior knowledge of…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
In human-in-the-loop systems such as teleoperation, especially those involving heavy-duty manipulators, achieving high task performance requires both robust control and strong human engagement. This paper presents a bilateral teleoperation…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
General-purpose humanoid robots are expected to interact intuitively with humans, enabling seamless integration into daily life. Natural language provides the most accessible medium for this purpose. However, translating language into…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…