Related papers: Humanoid Robot Co-Design: Coupling Hardware Design…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical body alignment in the frontal plane to maintain static…
Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in an end-to-end manner or rely on prior knowledge of some…
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid…
Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to…
Galloping is a common high-speed gait in both animals and quadrupedal robots, yet its energetic characteristics remain insufficiently explored. This study systematically analyzes a large number of possible galloping gaits by categorizing…
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the…
In order for a humanoid robot to perform loco-manipulation such as moving an object while walking, it is necessary to account for sustained or alternating external forces other than ground-feet reaction, resulting from humanoid-object…
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for humanoids presents a promising approach to realizing this…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
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…
Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
Human-like motion generation for robots often draws inspiration from biomechanical studies, which often categorize complex human motions into hierarchical taxonomies. While these taxonomies provide rich structural information about how…
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…