Related papers: PR2: A Physics- and Photo-realistic Humanoid Testb…

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…

Robots should learn new tasks from humans. But how do humans convey what they want the robot to do? Existing methods largely rely on humans physically guiding the robot arm throughout their intended task. Unfortunately -- as we scale up the…

Traversing risky terrains with sparse footholds poses a significant challenge for humanoid robots, requiring precise foot placements and stable locomotion. Existing learning-based approaches often struggle on such complex terrains due to…

Robotic systems that interact with the physical world must reason about kinematic and dynamic constraints imposed by their own embodiment, their environment, and the task at hand. We introduce KinDER, a benchmark for Kinematic and Dynamic…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…

In the approximately century-long journey of robotics, humanoid robots made their debut around six decades ago. While current humanoids bear human-like appearances, none have embodied true humaneness, remaining distant from achieving…

Humanoid robots have the potential to mimic human motions with high visual fidelity, yet translating these motions into practical, physical execution remains a significant challenge. Existing techniques in the graphics community often…

Incorporating computer programming exercises into introductory physics is a delicate task that involves a number of choices that may have an effect on student learning. We present a "hybrid" approach that speaks to a number of common…

Recent years have seen a growth in the number of industrial robots working closely with end-users such as factory workers. This growing use of collaborative robots has been enabled in part due to the availability of end-user robot…

Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a major challenge lies in accurately understanding human…

The rapid progress in AI and Robotics may lead to a profound societal transformation, as humans and robots begin to coexist within shared communities, introducing both opportunities and challenges. To explore this future, we present Virtual…

Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and variable height bodies that make them good candidates for tasks…

Purpose of Review: As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available…

Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…

This paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on…

Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…

We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…