Related papers: Codesign of Humanoid Robots for Ergonomy Collabora…

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…

The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limiting their direct use. We present a two-stage pipeline for…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Master control console is a place where robots collaborate with humans in a shared environment. To this end, ergonomics is an important aspect to be considered. With ergonomic design, the surgeons can feel more comfortable to conduct the…

In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…

Advanced machine learning algorithms require platforms that are extremely robust and equipped with rich sensory feedback to handle extensive trial-and-error learning without relying on strong inductive biases. Traditional robotic designs,…

Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…

Ergonomics and human comfort are essential concerns in physical human-robot interaction. Common practical methods in the area either fail in estimating the correct posture due to occlusion or suffer from inaccurate ergonomics models in…

For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…

Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…

Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we…

In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…

With continual advancements in technology, efforts to develop robots simulating human behavior have intensified. Cognitive robotics, combined with artificial intelligence (AI), has proven effective in surveying and research analysis.…

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…

To be useful tools in real scenarios, humanoid robots must realize tasks dynamically. This means that they must be capable of applying substantial forces, rapidly swinging their limbs, and also mitigating impacts that may occur during the…

Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…