Related papers: mc-mujoco: Simulating Articulated Robots with FSM …
Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Wheeled-legged robots hold promise for traversing complex terrains and offer superior mobility compared to legged robots. However, wheeled-legged robots must effectively balance both wheeled driving and legged control. Furthermore, due to…
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…
Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that characterize real environments are vast and underrepresented in…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
MuJoCo is a powerful and efficient physics simulator widely used in robotics. One common way it is applied in practice is through Model Predictive Control (MPC), which uses repeated rollouts of the simulator to optimize future actions and…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, and system parameters. Dojo models hard contact and friction…
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joystick teleoperation. We introduce the Masked Humanoid…
Humanoid robots deployed in real-world scenarios often need to carry unknown payloads, which introduce significant mismatch and degrade the effectiveness of simulation-to-reality reinforcement learning methods. To address this challenge, we…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constraints or constrained optimization, requiring per-step…
As systems become more complex, the demand for thorough testing and virtual prototyping grows. To simulate whole systems, multiple tools are usually needed to cover different parts. These parts include the hardware of a system and the…
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…