Related papers: Visual Whole-Body Control for Legged Loco-Manipula…
Remote-controlled humanoid robots can revolutionize manufacturing, construction, and healthcare industries by performing complex or dangerous manual tasks traditionally done by humans. We refer to these behaviors as Dynamic…
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…
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…
Humans achieve complex manipulation through coordinated whole-body control, whereas most Vision-Language-Action (VLA) models treat robot body parts largely independently, making high-DoF humanoid control challenging and often unstable. We…
Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…
In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…
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…
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…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to…
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating…
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Advancements in optimization solvers and computing power have led to growing interest in applying whole-body model predictive control (WB-MPC) to bipedal robots. However, the high degrees of freedom and inherent model complexity of bipedal…