Related papers: Generating Humanoid Multi-Contact through Feasibil…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local…
Robotic systems that can dynamically combine manipulation and locomotion could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building…
Automatically designing virtual humans and humanoids holds great potential in aiding the character creation process in games, movies, and robots. In some cases, a character creator may wish to design a humanoid body customized for certain…
Humanoid loco-manipulation in unstructured environments demands tight integration of egocentric perception and whole-body control. However, existing approaches either depend on external motion capture systems or fail to generalize across…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety of…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
High-quality data collection is a fundamental cornerstone for training humanoid whole-body visuomotor policies. Current data acquisition paradigms predominantly rely on robot teleoperation, which is often hindered by limited hardware…
This work focuses on generating realistic, physically-based human behaviors from multi-modal inputs, which may only partially specify the desired motion. For example, the input may come from a VR controller providing arm motion and body…
Digital human motion synthesis is a vibrant research field with applications in movies, AR/VR, and video games. Whereas methods were proposed to generate natural and realistic human motions, most only focus on modeling humans and largely…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Humanoid robots, with their human-like embodiment, have the potential to integrate seamlessly into human environments. Critical to their coexistence and cooperation with humans is the ability to understand natural language communications…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
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…