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Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
A major challenge in humanoid robotics is designing a unified interface for commanding diverse whole-body behaviors, from precise footstep sequences to partial-body mimicry and joystick teleoperation. We introduce the Masked Humanoid…
Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…
Humanoid robots hold great promise for operating in human-centric environments, yet achieving robust whole-body coordination across the head, hands, and legs remains a major challenge. We present a system that combines a modular…
Current approaches for humanoid whole-body manipulation, primarily relying on teleoperation or visual sim-to-real reinforcement learning, are hindered by hardware logistics and complex reward engineering. Consequently, demonstrated…
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion.…
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…
Physics-based humanoid control relies on training with motion datasets that have diverse data distributions. However, the fixed difficulty distribution of datasets limits the performance ceiling of the trained control policies.…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
While musculoskeletal humanoids have the advantages of various biomimetic structures, it is difficult to accurately control the body, which is challenging to model. Although various learning-based control methods have been developed so far,…
This work combines control barrier functions (CBFs) with a whole-body controller to enable self-collision avoidance for the MIT Humanoid. Existing reactive controllers for self-collision avoidance cannot guarantee collision-free…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control and robotics. This paper presents a torque control…
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We…
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…