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The recent surge of interest in agile humanoid robots achieving dynamic tasks like jumping and flipping necessitates the concurrent design of a robot platform that combines exceptional hardware performance with effective control algorithms.…

With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high…

Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. Humanoid robots built with a purely tree type architecture…

Dexterous manipulation is a fundamental capability for robotic systems, yet progress has been limited by hardware trade-offs between precision, compactness, strength, and affordability. Existing control methods impose compromises on hand…

This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with…

Classically, the development of humanoid robots has been sequential and iterative. Such bottom-up design procedures rely heavily on intuition and are often biased by the designer's experience. Exploiting the non-linear coupled design space…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting heavy equipment. The requirement for safety necessitates that…

Recent researches on robotics have shown significant improvement, spanning from algorithms, mechanics to hardware architectures. Robotics, including manipulators, legged robots, drones, and autonomous vehicles, are now widely applied in…

Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…

Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…

Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…

When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…

We introduce Berkeley Humanoid, a reliable and low-cost mid-scale humanoid research platform for learning-based control. Our lightweight, in-house-built robot is designed specifically for learning algorithms with low simulation complexity,…

Performing trajectory design for humanoid robots with high degrees of freedom is computationally challenging. The trajectory design process also often involves carefully selecting various hyperparameters and requires a good initial guess…

Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…

Developing real robotic systems requires a tight integration of mechanics, electronics and software. Most of the times, existing robotic platforms are either closed or expensive or both, and in-house solutions are costly to develop and…

Robotic computing has reached a tipping point, with a myriad of robots (e.g., drones, self-driving cars, logistic robots) being widely applied in diverse scenarios. The continuous proliferation of robotics, however, critically depends on…

Soft robotic manipulators are attractive for a range of applications such as medical interventions or industrial inspections in confined environments. A myriad of soft robotic manipulators have been proposed in the literature, but their…

Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…