Related papers: SPARK: Skeleton-Parameter Aligned Retargeting on H…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
Retargeting human motion to heterogeneous robots is a fundamental challenge in robotics, primarily due to the severe kinematic and dynamic discrepancies between varying embodiments. Existing solutions typically resort to training…
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…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit human-motion…
Planning for systems with dynamics is challenging as often there is no local planner available and the only primitive to explore the state space is forward propagation of controls. In this context, tree sampling-based planners have been…
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between…
The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Humanoid robots represent a central frontier in embodied intelligence, as their anthropomorphic form enables natural deployment in humans' workspace. Brain-body co-design for humanoids presents a promising approach to realizing this…
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…
Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…
We present an approach that generates kinodynamically feasible paths for robots using Rapidly-exploring Random Tree (RRT). We leverage motion primitives as a way to capture the dynamics of the robot and use these motion primitives to build…
Humanoid motion tracking policies are central to building teleoperation pipelines and hierarchical controllers, yet they face a fundamental challenge: the embodiment gap between humans and humanoid robots. Current approaches address this…
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…