Related papers: Scaling Whole-body Multi-contact Manipulation with…
In recent years, the field of legged robotics has seen growing interest in enhancing the capabilities of these robots through the integration of articulated robotic arms. However, achieving successful loco-manipulation, especially involving…
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Soft-growing robots are innovative devices that feature plant-inspired growth to navigate environments. Thanks to their embodied intelligence of adapting to their surroundings and the latest innovation in actuation and manufacturing, it is…
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Base placement optimization (BPO) is a fundamental capability for mobile manipulation and has been researched for decades. However, it is still very challenging for some reasons. First, compared with humans, current robots are extremely…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…
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…
A key challenge in intelligent robotics is creating robots that are capable of directly interacting with the world around them to achieve their goals. The last decade has seen substantial growth in research on the problem of robot…
In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
This study deals with the balance of humanoid or multi-legged robots in a multi-contact setting where a chosen subset of contacts is undergoing desired sliding-task motions. One method to keep balance is to hold the center-of-mass (CoM)…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
Whole-body control (WBC) has demonstrated significant advantages in complex interactive movements of high-dimensional robotic systems. However, when a robot is required to handle dynamic multi-contact combinations along a single kinematic…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…