Related papers: Visual Whole-Body Control for Legged Loco-Manipula…
In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward…
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The…
Biology can provide biomimetic components and new control principles for robotics. Developing a robot system equipped with bionic eyes is a difficult but exciting task. Researchers have been studying the control mechanisms of bionic eyes…
End-to-end control for robot manipulation and grasping is emerging as an attractive alternative to traditional pipelined approaches. However, end-to-end methods tend to either be slow to train, exhibit little or no generalisability, or lack…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP)…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
Dexterous robotic manipulation remains a significant challenge due to the high dimensionality and complexity of hand movements required for tasks like in-hand manipulation and object grasping. This paper addresses this issue by introducing…
In this paper, we explore spatial-aware humanoid whole-body manipulation task. Compared with tabletop settings, this task poses two key challenges: 1) Spatial understanding is challenging in complex 3D environments with diverse spatial…
Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…
Seamless loco-manipulation in unstructured environments requires robots to leverage autonomous exploration alongside whole-body control for physical interaction. In this work, we introduce HANDO (Hierarchical Autonomous Navigation and…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Soft robots, with their inherent passive compliance, are…