Related papers: Impact-aware humanoid robot motion generation with…
With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant…
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with constant acceleration. To make the motion…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
Recently, the centroidal momentum dynamics has received substantial attention to plan dynamically consistent motions for robots with arms and legs in multi-contact scenarios. However, it is also non convex which renders any optimization…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if…
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the agents, challenges arise in the modelling and control of…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…
The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
We present a feasibility-driven teleoperation framework designed to generate humanoid multi-contact maneuvers for use in unstructured environments. Our framework is designed for motions with arbitrary contact modes and postures. The…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…