Related papers: Spatio-Temporal Motion Retargeting for Quadruped R…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. This paper addresses the problem of transferring complex dual-arm sign language motions characterized by the…
Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…
This paper presents a scalable and adaptive control framework for legged robots that integrates Iterative Learning Control (ILC) with a biologically inspired torque library (TL), analogous to muscle memory. The proposed method addresses key…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
In recent years, reinforcement learning (RL) has shown outstanding performance for locomotion control of highly articulated robotic systems. Such approaches typically involve tedious reward function tuning to achieve the desired motion…
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While…
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
We present a data-driven framework for unsupervised human motion retargeting that animates a target subject with the motion of a source subject. Our method is correspondence-free, requiring neither spatial correspondences between the source…
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Developing personal robots that can perform a diverse range of manipulation tasks in unstructured environments necessitates solving several challenges for robotic grasping systems. We take a step towards this broader goal by presenting the…
Legged locomotion holds the premise of universal mobility, a critical capability for many real-world robotic applications. Both model-based and learning-based approaches have advanced the field of legged locomotion in the past three…