Related papers: RoMoCo: Robotic Motion Control Toolbox for Reduced…
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances,…
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…
This paper proposes a framework designed to generate a closed-loop walking engine for a humanoid robot. In particular, the core of this framework is an abstract dynamics model which is composed of two masses that represent the lower and the…
Reinforcement learning (RL) controllers have made impressive progress in humanoid locomotion and light-weight object manipulation. However, achieving robust and precise motion control with intense force interaction remains a significant…
This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…
Bipedal balance is challenging due to its multi-phase, hybrid nature and high-dimensional state space. Traditional balance control approaches for bipedal robots rely on low-dimensional models for locomotion planning and reactive control,…
Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…
We designed a modular robotic control stack that provides a customizable and accessible interface to the Franka Emika Panda Research robot. This framework abstracts high-level robot control commands as skills, which are decomposed into…
The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling…
An attached arm can significantly increase the applicability of legged robots to several mobile manipulation tasks that are not possible for the wheeled or tracked counterparts. The standard hierarchical control pipeline for such legged…
Wheel-legged robots with integrated manipulators hold great promise for mobile manipulation in logistics, industrial automation, and human-robot collaboration. However, unified control of such systems remains challenging due to the…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and…
Generalizable humanoid loco-manipulation poses significant challenges, requiring coordinated whole-body control and precise, contact-rich object manipulation. To address this, this paper introduces HOMIE, a semi-autonomous teleoperation…
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…
Quadruped robots are progressively being integrated into human environments. Despite the growing locomotion capabilities of quadrupedal robots, their interaction with objects in realistic scenes is still limited. While additional robotic…
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these issues, we present UniCon, a lightweight framework that…
Legged robots are physically capable of traversing a wide range of challenging environments, but designing controllers that are sufficiently robust to handle this diversity has been a long-standing challenge in robotics. Reinforcement…
Navigating rugged landscapes poses significant challenges for legged locomotion. Multi-legged robots (those with 6 and greater) offer a promising solution for such terrains, largely due to their inherent high static stability, resulting…
Many have explored the application of continuum robot manipulators for minimally invasive surgery, and have successfully demonstrated the advantages their flexible design provides -- with some solutions having reached commercialisation and…