Related papers: PRIME: Physically-consistent Robotic Inertial and …
Automatically generating agile whole-body motions for legged and humanoid robots remains a fundamental challenge in robotics. While numerous trajectory optimization approaches have been proposed, there is no clear guideline on how the…
Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding…
In the context of legged robots, adaptive behavior involves adaptive balancing and adaptive swing foot reflection. While adaptive balancing counteracts perturbations to the robot, adaptive swing foot reflection helps the robot to navigate…
To achieve highly dynamic jumps of legged robots, it is essential to control the rotational dynamics of the robot. In this paper, we aim to improve the jumping performance by proposing a unified model for planning highly dynamic jumps that…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…
Falling is an inherent risk of humanoid mobility. Maintaining stability is thus a primary safety focus in robot control and learning, yet no existing approach fully averts loss of balance. When instability does occur, prior work addresses…
Humanoid locomotion has advanced rapidly with deep reinforcement learning (DRL), enabling robust feet-based traversal over uneven terrain. Yet platforms beyond leg length remain largely out of reach because current RL training paradigms…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low noise force torque sensors, long exciting signals, and solving nonlinear optimization problems, making the…
Human motion generation is a challenging task that aims to create realistic motion imitating natural human behaviour. We focus on the well-studied behaviour of priming an object/location for pick up or put down - that is, the spotting of an…
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware…
Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…
Stable, low-latency whole-body teleoperation of humanoid robots is an open research challenge, complicated by kinematic mismatches between human and robot morphologies, accumulated inertial sensor noise, non-trivial control latency, and…
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feasible manipulation envelope. We propose \textbf{FAME}, a…
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and contact kinematics, the locomotion control and planning…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
To support humanoid robots in performing manipulation tasks, it is essential to study stable standing while accommodating upper-body motions. However, the limited controllable range of humanoid robots in a standing position affects the…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…