Related papers: Human-Level Actuation for Humanoids
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
To traverse complex scenarios reliably a legged robot needs to move its base aided by the ground reaction forces, which can only be generated by the legs that are momentarily in contact with the ground. A proper selection of footholds is…
Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models…
Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of…
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their progression. However, they are also error-prone activities,…
The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…
Humans interact with objects all the time. Enabling a humanoid to learn human-object interaction (HOI) is a key step for future smart animation and intelligent robotics systems. However, recent progress in physics-based HOI requires…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Recent advancements in humanoid robotics, including the integration of hierarchical reinforcement learning-based control and the utilization of LLM planning, have significantly enhanced the ability of robots to perform complex tasks. In…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies can lead to the development of more sophisticated robots…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
As Competency-Based Education (CBE) is gaining traction around the world, the shift from marks-based assessment to qualitative competency mapping is a manual challenge for educators. This paper tackles the bottleneck issue by suggesting a…
Human activity recognition (HAR) using wearable sensors has advanced through various machine learning paradigms, each with inherent trade-offs between performance and labeling requirements. While fully supervised techniques achieve high…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…