Related papers: Load-Aware Locomotion Control for Humanoid Robots …
Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…
Humanoid robots, capable of assuming human roles in various workplaces, have become essential to embodied intelligence. However, as robots with complex physical structures, learning a control model that can operate robustly across diverse…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
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…
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…
Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…
Humanoid robots can support human workers in physically demanding environments by performing tasks that require whole-body coordination, such as lifting and transporting heavy objects.These tasks, which we refer to as Dynamic Mobile…
With the rapid development of embodied intelligence, locomotion control of quadruped robots on complex terrains has become a research hotspot. Unlike traditional locomotion control approaches focusing solely on velocity tracking, we pursue…
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…
Humanoid robots hold great potential to perform various human-level skills, involving unified locomotion and manipulation in real-world settings. Driven by advances in machine learning and the strength of existing model-based approaches,…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability and support in complex environments. This paper introduces…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
Humanoid robots hold great potential for diverse interactions and daily service tasks within human-centered environments, necessitating controllers that seamlessly integrate precise locomotion with dexterous manipulation. However, most…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…
Robotic loco-manipulation tasks often involve contact-rich interactions with the environment, requiring the joint modeling of contact force and robot position. However, recent visuomotor policies often focus solely on learning position or…