Related papers: A Behavior Architecture for Fast Humanoid Robot Do…

To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

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…

With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…

Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…

Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…

Biological systems exhibit a continuous stream of movements, consisting of sequential segments, that allow them to perform complex tasks in a creative and versatile fashion. This observation has led researchers towards identifying…

Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires overcoming similar challenges. Classically, this is done by…

Humans and animals excel in combining information from multiple sensory modalities, controlling their complex bodies, adapting to growth, failures, or using tools. These capabilities are also highly desirable in robots. They are displayed…

The distance at which a mobile robot reacts to a person strongly impacts various qualities of the human-robot interaction. In this paper, we focus on the navigation of a mobile delivery robot platform in a residential indoor hallway…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

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…

Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a…

Learning highly dynamic behaviors for robots has been a longstanding challenge. Traditional approaches have demonstrated robust locomotion, but the exhibited behaviors lack diversity and agility. They employ approximate models, which lead…

A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…

Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a complex motion that requires the coordination of many degrees…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Whole-body humanoid locomotion is challenging due to high-dimensional control, morphological instability, and the need for real-time adaptation to various terrains using onboard perception. Directly applying reinforcement learning (RL) with…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…