Related papers: Visual Manipulation with Legs
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
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…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation of this human behavior to bipedal walking robots, even if…
During co-manipulation involving humans and robots, it is necessary to base robot controllers on human behaviors to achieve comfortable and coordinated movement between the human-robot dyad. In this paper, we describe an experiment between…
Moving large objects, such as furniture or appliances, is a critical capability for robots operating in human environments. This task presents unique challenges, including whole-body coordination to avoid collisions and managing the…
Interactive navigation is crucial in scenarios where proactively interacting with objects can yield shorter paths, thus significantly improving traversal efficiency. Existing methods primarily focus on using the robot body to relocate large…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demonstrations of the tasks performed by a person. The sub-tasks…
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…
Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manager whose job is to observe and assess the task, and infer…
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is…
In this paper, we present a general learning framework for controlling a quadruped robot that can mimic the behavior of real animals and traverse challenging terrains. Our method consists of two steps: an imitation learning step to learn…
Manipulating unseen articulated objects through visual feedback is a critical but challenging task for real robots. Existing learning-based solutions mainly focus on visual affordance learning or other pre-trained visual models to guide…
Balancing oneself using the spine is a physiological alignment of the body posture in the most efficient manner by the muscular forces for mammals. For this reason, we can see many disabled quadruped animals can still stand or walk even…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…