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Traditional one-step preview planning algorithms for bipedal locomotion struggle to generate viable gaits when walking across terrains with restricted footholds, such as stepping stones. To overcome such limitations, this paper introduces a…
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architectures where the Divergent-Component-of-Motion (DCM) is…
Optical see-though head-mounted displays (OST HMDs) are one of the key technologies for merging virtual objects and physical scenes to provide an immersive mixed reality (MR) environment to its user. A fundamental limitation of HMDs is,…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the…
Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection…
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art…
Immersive virtual reality (VR) applications demand accurate, temporally coherent full-body pose tracking. Recent head-mounted camera-based approaches show promise in egocentric pose estimation, but encounter challenges when applied to VR…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by…
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using reduced order models (ROMs) and stepping control to generate…
Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…
A deep understanding of the physical world is a central goal for embodied AI and realistic simulation. While current models excel at capturing an object's surface geometry and appearance, they largely neglect its internal physical…
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for…
Accurate and reliable multi-object tracking (MOT) in 3D space is essential for advancing robotics and computer vision applications. However, it remains a significant challenge in monocular setups due to the difficulty of mining 3D…
High-precision inertial sensing and gravity sensing are key in navigation, oil exploration, and earthquake prediction. In contrast to prior accelerometers using piezoelectric or electronic capacitance readout techniques, optical readout…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…